public List <Vector> Route()
{
List <RoutingPoint> possibleNewPoints;
RoutingPoint reachedDestinationWithLeastCost;
float destinationCost;
while (true)
{
possibleNewPoints = new List <RoutingPoint>();
foreach (RoutingPoint openPoint in openList)
{
reachedDestinationWithLeastCost = null;
destinationCost = float.MaxValue;
foreach (Vector direction in directionList)
{
Vector possibleNewPoint = openPoint.Point + direction;
if (CheckClosedList(possibleNewPoint) && map.WayFree(possibleNewPoint, minimumDistance))
{
if (destinationPoint.Distance(possibleNewPoint) < minimumDistance)
{
RoutingPoint currentParent = new RoutingPoint(possibleNewPoint, openPoint, ownShip, direction.Length);
if (reachedDestinationWithLeastCost == null || destinationCost > currentParent.Cost)
{
reachedDestinationWithLeastCost = currentParent;
destinationCost = currentParent.Cost;
}
}
possibleNewPoints.Add(new RoutingPoint(possibleNewPoint, openPoint, ownShip, direction.Length));
}
}
if (reachedDestinationWithLeastCost != null)
{
destinationRouter = new List <Vector>();
destinationRouter.Add(destinationPoint.Point);
destinationRouter.Add(reachedDestinationWithLeastCost.Point);
reachedDestinationWithLeastCost = reachedDestinationWithLeastCost.GoBack(ref destinationRouter);
while (reachedDestinationWithLeastCost != null)
{
reachedDestinationWithLeastCost = reachedDestinationWithLeastCost.GoBack(ref destinationRouter);
}
destinationRouter.Reverse();
return(destinationRouter);
}
if (!closedList.Contains(openPoint))
{
closedList.Add(openPoint);
}
}
if (possibleNewPoints.Count == 0)
{
throw new Exception();
}
foreach (RoutingPoint possibleNewPoint in possibleNewPoints)
{
openList.Add(possibleNewPoint);
}
openList.Sort();
}
}
