private void ConnectPoints(int fromId, int toId, FStar fstar)
{
if (fstar.HasPoint(toId) && !fstar.ArePointsConnected(fromId, toId))
{
fstar.ConnectPoints(fromId, toId);
}
}
public Vector2[] FindPath(Vector2 from, Vector2 to, List <GameBoardCell> board, float limit)
{
FStar fstar = new FStar();
// TODO: this probably isn't very efficent AT ALL
GameBoardCell[,] map = new GameBoardCell[50, 50];
// add all the points to fstar and map
board.ForEach(cell => {
int index = board.IndexOf(cell);
// TODO: compute weights
fstar.AddPoint(index, cell.Position);
map[(int)cell.Position.x, (int)cell.Position.y] = cell;
});
// get from and to
int fromIndex = board.IndexOf(GetCellFromMap(map, (int)from.x, (int)from.y));
int toIndex = board.IndexOf(GetCellFromMap(map, (int)to.x, (int)to.y));
// make all the point connections
board.ForEach(cell => {
GameBoardCell up, down, left, right;
int index, upIndex, downIndex, leftIndex, rightIndex, x, y;
index = board.IndexOf(cell);
x = (int)cell.Position.x;
y = (int)cell.Position.y;
up = GetCellFromMap(map, x, y - 1);
down = GetCellFromMap(map, x, y + 1);
left = GetCellFromMap(map, x - 1, y);
right = GetCellFromMap(map, x + 1, y);
upIndex = up == null ? -1 : board.IndexOf(up);
downIndex = up == null ? -1 : board.IndexOf(down);
leftIndex = up == null ? -1 : board.IndexOf(left);
rightIndex = up == null ? -1 : board.IndexOf(right);
ConnectPoints(index, upIndex, fstar);
ConnectPoints(index, downIndex, fstar);
ConnectPoints(index, leftIndex, fstar);
ConnectPoints(index, rightIndex, fstar);
});
Vector2[] results = fstar.GetPointPath(fromIndex, toIndex);
return(results);
}