public async void PerformSearchAsync(T origin,
T destination,
AStarMapFeeder <T> feeder,
Action <T[]> onFinishCallbak)
{
Task taskA = Task.Run(() => { PerformSearch(origin, destination, feeder); });
await taskA;
onFinishCallbak?.Invoke(path);
}
public T[] PerformSearch(T origin,
T destination,
AStarMapFeeder <T> feeder)
{
ClearSearch();
AddOpenNode(origin);
while (searchOpenNodes.Count > 0 && !feeder.SameNode(searchOpenNodes[0].node, destination))
{
AStarSearchNode <T> current = searchOpenNodes[0];
RemoveOpenNode(current);
AddClosedNode(current);
visitedNodes.Add(current.node);
T[] neighbours = feeder.GetNeighbours(current.node);
foreach (T neighbour in neighbours)
{
float cost = current.pathCost + feeder.GetMoveCost(current.node, neighbour);
AStarSearchNode <T> neighbourSearch = searchNodes.ContainsKey(neighbour)?
searchNodes[neighbour] :
new AStarSearchNode <T>(neighbour,
cost,
cost + feeder.GetDistanceEstimation(neighbour, destination),
current.node);
bool inOpen = openNodes.Contains(neighbour);
bool inClosed = closedNodes.Contains(neighbour);
bool smallerCost = cost < neighbourSearch.pathCost;
if (inOpen && smallerCost)
{
RemoveOpenNode(neighbourSearch);
}
else if (inClosed && smallerCost)
{
RemoveClosedNode(neighbourSearch);
}
else if (!inOpen && !inClosed)
{
AddOpenNode(neighbourSearch);
}
}
}
if (searchOpenNodes.Count > 0)
{
path = GetParentPathFrom(searchOpenNodes[0], origin, feeder);
}
return(path);
}
private T[] GetParentPathFrom(AStarSearchNode <T> searchNode, T origin, AStarMapFeeder <T> feeder)
{
List <T> parentList = new List <T>();
do
{
parentList.Add(searchNode.node);
if (searchNodes.ContainsKey(searchNode.parent))
{
searchNode = searchNodes[searchNode.parent];
}
}while(!feeder.SameNode(searchNode.node, origin) &&
!feeder.SameNode(searchNode.node, searchNode.parent));
if (feeder.SameNode(searchNode.node, origin))
{
parentList.Add(searchNode.node);
}
parentList.Reverse();
return(parentList.ToArray());
}