public List <GridSection> FindPath(int startX, int startY, int endX, int endY)
{
GridSection startGridSection = grid[startX, startY];
GridSection endGridSection = grid[endX, endY];
openList = new List <GridSection> {
startGridSection
};
closedList = new List <GridSection>();
for (int x = 0; x < grid.GetLength(0); x++)
{
for (int y = 0; y < grid.GetLength(1); y++)
{
GridSection GridSection = grid[x, y];
GridSection.gCost = int.MaxValue;
GridSection.CalculateFCost();
GridSection.lastSection = null;
}
}
startGridSection.gCost = 0;
startGridSection.hCost = CalculateDistance(startGridSection, endGridSection);
startGridSection.CalculateFCost();
//-------------------------------------------------------------------//
while (openList.Count > 0)
{
GridSection currentGridSection = GetLowestFCostGridSection(openList);
if (currentGridSection == endGridSection) //
{
return(CalculatePath(endGridSection)); //
}
openList.Remove(currentGridSection);
closedList.Add(currentGridSection);
foreach (GridSection neighbourGridSection in GetNeighbourGridSections(currentGridSection)) //
{
if (closedList.Contains(neighbourGridSection))
{
continue;
}
if (neighbourGridSection.wall)
{
closedList.Add(neighbourGridSection);
continue;
}
int tempGCost = currentGridSection.gCost + CalculateDistance(currentGridSection, neighbourGridSection); //
if (tempGCost < neighbourGridSection.gCost) //
{
neighbourGridSection.lastSection = currentGridSection; //
neighbourGridSection.gCost = tempGCost; //
neighbourGridSection.hCost = CalculateDistance(neighbourGridSection, endGridSection); //
neighbourGridSection.CalculateFCost(); //
if (!openList.Contains(neighbourGridSection)) //
{
openList.Add(neighbourGridSection);
}
}
}
}
//
return(null);
}
