void AddConnectionsToOpen(AStarInfo <T> obj, Heuristic heuristic)
{
if (obj != null)
{
foreach (AStarInfo <T> c in obj.Connections)
{
//If the tested tile has connections it is not impassable
if (c.Connections.Count > 0)
{
if (!open.Contains(c) && !closed.Contains(c))
{
open.Add(c);
c.costSoFar = obj.costSoFar + (c.cost / 2f) + (obj.cost / 2f);
c.heuristic = heuristic(c.current, Destination.current);
c.ETC = c.costSoFar + c.heuristic;
c.root = obj;
}
else if (c.costSoFar > obj.costSoFar + (c.cost / 2f) + (obj.cost / 2f))
{
c.costSoFar = obj.costSoFar + (c.cost / 2f) + (obj.cost / 2f);
c.heuristic = heuristic(c.current, Destination.current);
c.ETC = c.costSoFar + c.heuristic;
c.root = obj;
if (closed.Contains(c))
{
closed.Remove(c);
open.Add(c);
}
}
}
}
open.Remove(obj);
closed.Add(obj);
}
}
/// <summary>
/// Configure the tile parameters using columna nd row data.
/// </summary>
/// <param name="q">The Column of the tile.</param>
/// <param name="r">The Row of the tile.</param>
public void ConfigureTile(int q, int r)
{
hexTransform = new HexTransform(q, r);
SetTexture(TerrainTypes.Sea);
TerrainType = TerrainTypes.Sea;
ASI = new AStarInfo <HexTile>(this, 1);
}
public IEnumerator ASTAR(AStarInfo <T> start, AStarInfo <T> destination, Heuristic heuristic, PathReceive path)
{
List <AStarInfo <T> > temp = new List <AStarInfo <T> >();
bool destinationFound = false;
bool noValidPath = false;
open.Add(start);
AddConnectionsToOpen(start, heuristic);
while (!destinationFound && !noValidPath)
{
yield return(null);
AStarInfo <T> current = GetLowestETC();
if (current != null && current != destination)
{
AddConnectionsToOpen(current, heuristic);
}
else if (current == destination)
{
destinationFound = true;
}
else
{
noValidPath = true;
}
}
if (destinationFound)
{
AStarInfo <T> tempDestination = destination;
while (tempDestination != start && tempDestination != null)
{
temp.Add(tempDestination);
//tempTile.SetColour(Color.magenta);
tempDestination = (AStarInfo <T>)tempDestination.root;
}
temp.Reverse();
}
if (path != null)
{
path(temp);
}
//return temp;
}
public List <AStarInfo <T> > AStar(Heuristic heuristic)
{
List <AStarInfo <T> > temp = new List <AStarInfo <T> >();
bool destinationFound = false;
bool noValidPath = false;
open.Add(start);
AddConnectionsToOpen(start, heuristic);
while (!destinationFound && !noValidPath)
{
AStarInfo <T> T = GetLowestETC();
if (T != null && T != Destination)
{
AddConnectionsToOpen(T, heuristic);
}
else if (T == Destination)
{
destinationFound = true;
}
else
{
noValidPath = true;
}
}
if (destinationFound)
{
AStarInfo <T> tempTile = Destination;
while (tempTile != start && tempTile != null)
{
temp.Add(tempTile);
//tempTile.SetColour(Color.magenta);
tempTile = (AStarInfo <T>)tempTile.root;
}
temp.Reverse();
}
return(temp);
}
AStarInfo <T> GetLowestETC()
{
if (open.Count > 0)
{
AStarInfo <T> tempTile = open[0];
float lowestCost = tempTile.ETC;
if (open.Count > 1)
{
for (int i = 1; i < open.Count; ++i)
{
if (open[i].ETC < lowestCost)
{
lowestCost = open[i].ETC;
tempTile = open[i];
}
}
}
return(tempTile);
}
return(null);
}
public static float CalcHexManhattanDist(AStarInfo <HexTile> CurrentTile, AStarInfo <HexTile> TargetTile)
{
return(Mathf.Floor((Mathf.Abs(TargetTile.current.hexTransform.Position.x - CurrentTile.current.hexTransform.Position.x) + Mathf.Abs(TargetTile.current.hexTransform.Position.y -
CurrentTile.current.hexTransform.Position.y) + Mathf.Abs(TargetTile.current.hexTransform.Position.z - CurrentTile.current.hexTransform.Position.z)) / 2f));
}
