private bool CloseCircuit(HashSet <TrackNode> nodes, IntVector3 start, int startRotation)
{
// use A* to close track
// Track ends at (0, 0, 0) rotation 0
// Start from where cursor left off
int endRotation = 0;
IntVector3 end = new IntVector3();
HashSet <SearchNode> closed = new HashSet <SearchNode>();
LinkedList <SearchNode> open = new LinkedList <SearchNode>();
SearchNode first = new SearchNode(null, startRotation, start);
first.g = 0;
first.h = start.dst(ref end);
open.AddLast(first);
int countdown = A_STAR_TIMEOUT * length;
HashSet <IntVector3> currentPathPositions = new HashSet <IntVector3>();
while (open.Count > 0)
{
if (countdown-- < 0)
{
return(false);
}
SearchNode current = open.First.Value;
open.RemoveFirst();
if (closed.Contains(current))
{
continue;
}
closed.Add(current);
if (current.pos.Equals(end) && current.rotation == endRotation)
{
FinalizeCloseCircuit(nodes, current);
return(true);
}
currentPathPositions.Clear();
SearchNode tmp = current;
while (tmp != null)
{
currentPathPositions.Add(tmp.pos);
tmp = tmp.parent;
}
List <SearchNode> neighbours = GetNeighboursFor(nodes, current);
foreach (SearchNode neighbour in neighbours)
{
if (closed.Contains(neighbour) || currentPathPositions.Contains(neighbour.pos))
{
continue;
}
neighbour.g = current.g; //+ 1;
neighbour.h = neighbour.pos.dst(ref end);
AddOrdered(open, neighbour);
}
}
return(false);
}