public List <Node> FindPath(Vector2 start, Vector2 end)
{
Node startNode = grid.getNode(start);
Node endNode = grid.getNode(end);
List <Node> openSet = new List <Node>();
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet[0];
for (int node = 0; node < openSet.Count; node++)
{
if (openSet[node].fCost < currentNode.fCost || (openSet[node].fCost == currentNode.fCost && openSet[node].hCost < currentNode.hCost))
{
currentNode = openSet[node];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
if (currentNode == endNode)
{
Logger.Log("Found a path to " + endNode.position.ToString() + "!");
return(retracePath(startNode, endNode));
}
foreach (Node neighbor in grid.getNeighbors(currentNode))
{
if (!neighbor.traversible || closedSet.Contains(neighbor))
{
continue;
}
int newMoveCost = currentNode.gCost + getDistance(currentNode, neighbor) + (int)(neighbor.weightCost * 10);
if (newMoveCost < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMoveCost;
neighbor.hCost = getDistance(neighbor, endNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
}
}
}
Logger.Log("Failed to find a path to " + endNode.position.ToString() + "!", StardewModdingAPI.LogLevel.Error);
return(new List <Node>());
}
public static float getWeight(Node node, PathingGrid grid)
{
float totalImpassableWeight = 0;
if (node == null)
{
Logger.Log("Null node!");
return(-1);
}
for (int x = node.x - distance; x < node.x + distance + 1; x++)
{
for (int y = node.y - distance; y < node.y + distance + 1; y++)
{
if (x < 0 || x >= grid.width || y < 0 || y >= grid.height || !grid.getNode(x, y).traversible)
{
totalImpassableWeight += (distance) - (float)Math.Min(Math.Sqrt(Math.Pow(x - node.x, 2) + Math.Pow(y - node.y, 2)), (float)distance);
}
}
}
return(totalImpassableWeight);
}