public Path FindPath(Tile start, Tile end, float goalTolerance = 0.0f)
{
if (!start.passable || (!end.passable && goalTolerance <= 0.0f))
{
Path p1 = new Path();
p1.AddPoint(grid.GetWindowCenterPos(start));
return(p1);
}
openSet.Clear();
closedSet.Clear();
start.g = 0;
start.f = start.g + start.DistanceHeuristic(end);
openSet.Add(start);
while (openSet.Count > 0)
{
Tile current = openSet.First();
openSet.Remove(current);
closedSet.Add(current);
float dh = current.DistanceHeuristic(end);
if (current == end || current.DistanceHeuristic(end) <= goalTolerance)
{
return(ReconstructPath(current));
}
foreach (Tile t in current.neighbours)
{
if (closedSet.Contains(t))
{
continue;
}
float tentative_g = current.g + 1;
Tile newParent = current;
if (current.cameFrom != null && grid.LineOfSight(current.cameFrom, t))
{
float cost = (float)Math.Sqrt(Math.Pow(current.cameFrom.gridX - t.gridX, 2) + Math.Pow(current.cameFrom.gridY - t.gridY, 2));
tentative_g = current.cameFrom.g + cost;
newParent = current.cameFrom;
}
if (!openSet.Contains(t))
{
//t.cameFrom = current;
//t.g = tentative_g;
//t.f = t.g + t.ManhattanDistance(end);
openSet.Add(t);
}
else if (tentative_g >= t.g)
{
continue;
}
t.cameFrom = newParent;
t.g = tentative_g;
t.f = t.g + t.DistanceHeuristic(end) - goalTolerance;
}
openSet.Sort();
}
//If we get here, no path was found
Path p2 = new Path();
p2.AddPoint(grid.GetWindowCenterPos(start));
return(p2);
}
public bool LineOfSight(Attackable a, Attackable b)
{
return(grid.LineOfSight(a.Position, b.Position));
}