public Stack <Pair <int, int> > PerformPathFinding()
{
#region Variables initialization
int i, j;
int highestX = RTS.PathFindingHelper.maxWidth;
int highestY = RTS.PathFindingHelper.maxHeight;
GameGrid grid = RTS.PathFindingHelper.grid;
Debug.Log("HIghest are " + highestX + " " + highestY);
Debug.Log("Start coord are " + startPosition.X + " " + startPosition.Y);
Debug.Log("End coord are " + endPosition.X + " " + endPosition.Y);
bool[][] closedList = new bool[highestX][];
for (i = 0; i < highestX; ++i)
{
closedList[i] = new bool[highestY];
for (j = 0; j < highestY; ++j)
{
closedList[i][j] = false;
}
}
SortedSet <Pair <int, int> > openList = new SortedSet <Pair <int, int> >();
Pair <int, int> startingGrid = new Pair <int, int>();
startingGrid.SetValues(startPosition.X, startPosition.Y);
openList.Add(0.0, startingGrid);
pfGrid = new PathFindingGrid(RTS.PathFindingHelper.maxWidth, RTS.PathFindingHelper.maxHeight);
pfGrid.InitializeGrid();
pfGrid.InitializeStartingCell(startPosition.X, startPosition.Y);
Stack <Pair <int, int> > emptyPath = new Stack <Pair <int, int> >();
//if (count == 1) return emptyPath;
#endregion
while (openList.IsNotEmpty())
{
Pair <double, Pair <int, int> > currentCell = openList.GetFirstElement();
openList.RemoveElement(currentCell.First, currentCell.Second);
i = currentCell.Second.First;
j = currentCell.Second.Second;
closedList[i][j] = true;
int index;
for (index = 0; index < RTS.PathFindingHelper.neighborLength; ++index)
{
// To store the 'g', 'h' and 'f' of the 8 successors
double gNew = 0, hNew = 0, fNew = 0;
int neighborI, neighborJ;
neighborI = i + RTS.PathFindingHelper.Neighbors[index, 0];
neighborJ = j + RTS.PathFindingHelper.Neighbors[index, 1];
if (RTS.PathFindingHelper.IsSearchValid(neighborI, neighborJ, endPosition.X, endPosition.Y))
{
//ReachedDestination
if (RTS.PathFindingHelper.HasDestinationBeenReached(neighborI, neighborJ, endPosition.X, endPosition.Y))
{
pfGrid.UpdateParent(neighborI, neighborJ, i, j);
count++;
return(TracePath());
}
else if (closedList[neighborI][neighborJ] == false && RTS.PathFindingHelper.IsCellFree(grid, neighborI, neighborJ))
{
double gValue = 1.0;
if (neighborI != i && neighborJ != j)
{
gValue = 1.414;
}
gNew = pfGrid.GetG(i, j) + gValue;
hNew = RTS.PathFindingHelper.CaculateHValue(neighborI, neighborJ, endPosition.X, endPosition.Y);
fNew = gNew + hNew;
if (!pfGrid.CanAdd(neighborI, neighborJ, fNew))
{
openList.Add(fNew, new Pair <int, int>(neighborI, neighborJ));
pfGrid.UpdateValue(neighborI, neighborJ, gNew, hNew, fNew, i, j);
}
}
}
}
}
//If we got here we didn't find a path
return(emptyPath);
}