public AStar(float[,] gridT , int startXT , int startYT , int targetXT , int targetYT)
: base(gridT , startXT , startYT , targetXT , targetYT)
{
grid = gridT;
startX = startXT;
startY = startYT;
targetX = targetXT;
targetY = targetYT;
if (((startX == targetX) && (startY == targetY)) == false)
{
bool found = false; // used to determine if path is found
// creates the start node
Node current = new Node();
current.x = startX;
current.y = startY;
//creates the target node
targetNode = new Node();
targetNode.x = targetX;
targetNode.y = targetY;
//puts the start item in list
open.Add(current);
do
{
// This call places the lowest f at the bottom
open.Sort(
delegate(Node x, Node y)
{
return x.f() - y.f();
});
// Get the node with the lowest TotalCost
current = open[0];
if (current.x == targetNode.x)
{
if (current.y == targetNode.y)
{
found = true;
break;
}
}
checkAdjacent(current.x, current.y, open, closed, current);
//remove a from the open list and move into the 'closed' list
open.Remove(current);
closed.Add(current);
} while (open.Count > 0); // Keeps going until the open list is empty
// if a path was found the path is worked out then returned
if (found == true)
{
foreach (Node n in closed)
{
PathNode pathNode = new PathNode();
pathNode.x = current.x;
pathNode.y = current.y;
pathNodes.Add(pathNode);
if( current.parent == null)
{
break;
}
current = current.parent;
}
/*
do
{
PathNode pathNode = new PathNode();
pathNode.x = current.x;
pathNode.y = current.y;
pathNodes.Add(pathNode);
if (current.parent.Equals(null))
{
// path.Add(new int[2] { current.x, current.y });
current = current.parent;
}
else
{
closed.Clear();
}
} while (closed.Count > 0);
*/
}
}
}
private bool isNextNodeSafe(PathNode node)
{
if (realMap[node.x, node.y] <= 5.0)
{
return true;
}
if (realMap[node.x, node.y] == knownMap[node.x, node.y])
{
return true; // means no safer path
}
return false;
}
