void ResolveAStar(GridItem argStart, GridItem argDest)
{
if (null == argStart || null == argDest)
{
return;
}
List <GridItem> lsOpenItems = new List <GridItem> {
argStart
};
HashSet <GridItem> lsClosedItems = new HashSet <GridItem>();
argStart.g = 0;
argStart.h = GetDistance(argStart, argDest);
argStart.fCost();
GridItem lsCurrent = lsOpenItems[0];
while (lsOpenItems.Count > 0)
{
if (lsCurrent == argDest)
{
TracePath(argStart, argDest);
}
lsCurrent = lsOpenItems[0];
for (int i = 1; i < lsOpenItems.Count; i++)
{
if (lsOpenItems[i].GetFCost() < lsCurrent.GetFCost())
{
lsCurrent = lsOpenItems[i];
}
}
lsOpenItems.Remove(lsCurrent);
lsClosedItems.Add(lsCurrent);
foreach (GridItem neighbour in GetNeighbours(lsCurrent))
{
if (lsClosedItems.Contains(neighbour))
{
continue;
}
if (neighbour.Blocked || neighbour.Occupied || !neighbour.Active)
{
continue;
}
double lsPredictedGCost = lsCurrent.g + GetDistance(lsCurrent, neighbour);
if (lsPredictedGCost < neighbour.g)
{
neighbour.Parent = lsCurrent;
neighbour.g = lsPredictedGCost;
neighbour.h = GetDistance(neighbour, argDest);
neighbour.fCost();
if (!lsOpenItems.Contains(neighbour))
{
lsOpenItems.Add(neighbour);
}
}
}
}
//nopath
}
void ResolveAStar(Vector3 argStartPos, Vector3 argDestPos)
{
GridItem lsStart = GetTileByPosition(argStartPos);
GridItem lsDest = GetTileByPosition(argDestPos);
if (null == lsStart || null == lsDest)
{
return;
}
List <GridItem> lsOpenItems = new List <GridItem> {
lsStart
};
HashSet <GridItem> lsClosedItems = new HashSet <GridItem>();
//initialising costs of path to default val
for (int i = 0; i < m_Grid.x; i++)
{
for (int j = 0; j < m_Grid.y; j++)
{
m_Grid.Tiles[i, 0, j].g = int.MaxValue;
m_Grid.Tiles[i, 0, j].Parent = null;
}
}
lsStart.g = 0;
lsStart.h = GetDistance(lsStart, lsDest);
lsStart.fCost();
GridItem lsCurrent = lsOpenItems[0];
while (lsOpenItems.Count > 0)
{
for (int i = 1; i < lsOpenItems.Count; i++)
{
if (lsOpenItems[i].GetFCost() < lsCurrent.GetFCost() || lsCurrent.GetFCost() == lsOpenItems[i].GetFCost() && lsOpenItems[i].h < lsCurrent.h)
{
lsCurrent = lsOpenItems[i];
}
}
lsOpenItems.Remove(lsCurrent);
lsClosedItems.Add(lsCurrent);
//get closest neighbour based on g cost
foreach (GridItem neighbour in GetNeighbours(lsCurrent))
{
if (lsClosedItems.Contains(neighbour))
{
continue;
}
if (neighbour.Blocked || neighbour.Occupied || !neighbour.Active)
{
continue;
}
double lsPredictedGCost = lsCurrent.g + GetDistance(lsCurrent, neighbour);
if (lsPredictedGCost < neighbour.g)
{
neighbour.Parent = lsCurrent;
neighbour.g = lsPredictedGCost;
neighbour.h = GetDistance(neighbour, lsDest);
neighbour.fCost();
//if the neighbour hasnt been added
if (!lsOpenItems.Contains(neighbour))
{
lsOpenItems.Add(neighbour);
}
}
}
if (lsCurrent == lsDest)
{
TracePath(lsStart, lsDest);
return;
}
}
}
