void FormatNode(NodeComponent _node, NodeComponent _parent)
{
_node.SetNodeParent(_parent);
_node.SetG(_parent.GetG() + Vector3.Magnitude(_node.transform.position - _parent.transform.position));
_node.SetH(End.transform.position);
ChangeTileToColor(_node, Color.yellow);
}
// 1 => path found!, 0 => next step required, -1 => no path possible
public int NextStep()
{
if (Open.Count == 0)
{
return(-1);
}
NodeComponent currentTile = Open.Pop();
if (currentTile == null)
{
return(-1);
}
if (currentTile == End)
{
return(1);
}
List <NodeComponent> neighbours = currentTile.GetComponent <TileComponent>().GetCrossNeighbours();
if (DoDiagonal)
{
neighbours.AddRange(currentTile.GetComponent <TileComponent>().GetDiagonalNeighbours());
}
for (int i = 0; i < neighbours.Count; i++)
{
NodeComponent currentNeighbour = neighbours[i];
if (Open.Contains(currentNeighbour))
{
float currentF = currentTile.GetG() + currentNeighbour.GetH() + Vector3.Magnitude(currentNeighbour.transform.position - currentTile.transform.position);
if (currentF < currentNeighbour.GetF())
{
Open.Remove(currentNeighbour);
Open.Add(currentNeighbour);
}
}
else if (Closed.Contains(currentNeighbour))
{
float currentF = currentTile.GetG() + currentNeighbour.GetH() + Vector3.Magnitude(currentNeighbour.transform.position - currentTile.transform.position);
if (currentF < currentNeighbour.GetF())
{
Closed.Remove(currentNeighbour);
Open.Add(currentNeighbour);
}
}
else
{
FormatNode(currentNeighbour, currentTile);
Open.Add(currentNeighbour);
}
}
ChangeTileToColor(currentTile, Color.blue);
Closed.Add(currentTile);
return(0);
}