public void StartSearch(GridTile startPos, GridTile endPos)
{
todo = new List <GridTile>();
done = new List <GridTile>();
todo.Add(startPos);
smallestDis = startPos;
smallestDis.CalcuteDistance(endPos, startPos);
while (todo.Count > 0)
{
smallestDis = todo[0];
for (int i = 0; i < todo.Count; i++)
{
if (smallestDis != null && todo[i].totalDistance <= smallestDis.totalDistance)
{
if (temp != todo[i])
{
temp = todo[i];
smallestDis = temp;
}
}
}
done.Add(smallestDis);
done.Add(temp);
todo.Remove(temp);
if (smallestDis == endPos)
{
endPos.CalcuteDistance(endPos, smallestDis.previousTile);
done.Reverse();
foreach (GridTile tile in done)
{
if (tile == smallestDis.previousTile && !path.Contains(tile))
{
path.Add(tile);
smallestDis = smallestDis.previousTile;
}
}
if (smallestDis == startPos)
{
path.Reverse();
break;
}
}
GridTile[,] grid = GameObject.FindGameObjectWithTag("PathManager").GetComponent <PathManager>().grid;
List <GridTile> neighbour = new List <GridTile>();
int k, j;
j = smallestDis.x_pos;
k = smallestDis.z_pos;
//Left
if (j - 1 >= 0 && j != 0)
{
if (!grid[j - 1, k].blockade)
{
neighbour.Add(grid[j - 1, k]);
}
}
//Right
if (j + 1 < grid.GetLength(0) && j != grid.GetLength(0) - 1)
{
if (!grid[j + 1, k].blockade)
{
neighbour.Add(grid[j + 1, k]);
}
}
//Below
if (k - 1 >= 0 && k != 0)
{
if (!grid[j, k - 1].blockade)
{
neighbour.Add(grid[j, k - 1]);
}
}
//Above
if (k + 1 < grid.GetLength(1) && k != grid.GetLength(1) - 1)
{
if (!grid[j, k + 1].blockade)
{
neighbour.Add(grid[j, k + 1]);
}
}
foreach (GridTile neigbouringGrid in neighbour)
{
if (!done.Contains(neigbouringGrid) && !todo.Contains(neigbouringGrid))
{
neigbouringGrid.CalcuteDistance(endPos, smallestDis);
todo.Add(neigbouringGrid);
}
}
}
if (todo.Count <= 0)
{
Debug.LogError("No Target");
}
}
