private void AddTileCell(Vector2 tilePos)
{
var astarPos = tilePos + Vector2.Up;
_astar.AddPoint(_astarId, astarPos, 1f);
var astarCell = new AstarCell(astarPos, _astarId);
_astarCells.Add(astarCell);
_positionToCell[astarCell.Position] = astarCell;
// connect the point to the left
if (_astarId > 0 && _astar.GetPointPosition(_astarId - 1) == astarPos + Vector2.Left)
{
_astar.ConnectPoints(_astarId - 1, _astarId, true);
}
var isRightCorner = _tileMap.GetCellv(tilePos + Vector2.Right) == TileMap.InvalidCell;
var isLeftCorner = _tileMap.GetCellv(tilePos + Vector2.Left) == TileMap.InvalidCell;
if (isRightCorner || isLeftCorner)
{
var cornerCell = new AstarCornerCell(astarPos, isLeftCorner);
_astarCornerCells.Add(cornerCell);
}
_astarId++;
}
public List <Vector2Int> GetPathTo(Vector2Int destination)
{
List <AstarCell> openList = new List <AstarCell>();
List <AstarCell> closeList = new List <AstarCell>();
Vector2Int startCoord = Coordinates;
AstarCell current = new AstarCell();
current.pos = startCoord;
current.cost = 0;
current.heuristic = 0f;
current.prev = null;
openList.Add(current);
bool found = false;
while (openList.Count > 0 && found == false)
{
current = openList.Find(min => min.TotalCost() == openList.Min(x => x.TotalCost()));
closeList.Add(current);
openList.Remove(current);
if (current.pos == destination)
{
found = true;
break;
}
foreach (GameCell n in board.GetNeihbours(current.pos))
{
if (openList.Find(x => x.pos == n.coordinates) == null &&
closeList.Find(x => x.pos == n.coordinates) == null &&
!n.IsWall)
{
AstarCell neighbour = new AstarCell();
neighbour.pos = n.coordinates;
neighbour.cost = current.cost + 1;
neighbour.heuristic = Vector2.Distance(n.transform.position, board.GetCell(destination).transform.position);
neighbour.prev = current;
openList.Add(neighbour);
}
}
}
if (found)
{
List <Vector2Int> path = new List <Vector2Int>();
for (AstarCell cell = closeList.Last(); cell.pos != startCoord; cell = cell.prev)
{
path.Add(cell.pos);
}
path.Reverse();
return(path);
}
else
{
return(null);
}
}
