public Stack <Vector2> aStarInstant()
{
int i = 0;
List <NodeHolder> closedList = new List <NodeHolder>();
PriorityQueue <NodeHolder> openList = new PriorityQueue <NodeHolder>();
NodeHolder current = new NodeHolder(m_startPosition, null, m_endPosition);
openList.EnQueue(current);
while (openList.size() != 0)
{
// Check to see if we are stuck
i = i + 1;
//Debug.Log(openList.Size() + " " + closedList.Count);
if (i > 1000)
{
Debug.LogError("failed to find path");
return(new Stack <Vector2>());
}
NodeHolder currentNode = openList.DeQueue();
closedList.Add(currentNode);
List <PathFindingNode> neighbors = currentNode.GetTile().GetConnections();
foreach (PathFindingNode neighbor in neighbors)
{
NodeHolder neighborNode = new NodeHolder(neighbor, currentNode, m_endPosition);
if (neighbor.Equals(m_endPosition))
{
m_finalNode = neighborNode;
return(MakePathFromNodes());
}
if (openList.Contains(neighborNode))
{
NodeHolder node = openList.FindItem(neighborNode);
if (neighborNode.GetGValue() < node.GetGValue())
{
node.UpdateG(neighborNode);
openList.IncreasePriority(openList.IndexOf(node));
}
}
else if (closedList.Contains(neighborNode))
{
int index = closedList.IndexOf(neighborNode);
NodeHolder node = closedList[index];
if (neighborNode.GetGValue() < node.GetGValue())
{
closedList.Remove(node);
}
openList.EnQueue(neighborNode);
}
else
{
openList.EnQueue(neighborNode);
}
}
}
return(new Stack <Vector2>());
}
public IEnumerator aStar(PathFindingCallBack callBack)
{
Debug.Log("start aStar");
int i = 0;
List <NodeHolder> closedList = new List <NodeHolder>();
PriorityQueue <NodeHolder> openList = new PriorityQueue <NodeHolder>();
NodeHolder current = new NodeHolder(m_startPosition, null, m_endPosition);
openList.EnQueue(current);
pathing = true;
while (openList.size() != 0)
{
// Check to see if we are stuck or told to quit finding a path
i = i + 1;
if (i > 2000 || !pathing)
{
pathing = false;
Debug.LogError("failed to find path");
yield break;
}
NodeHolder currentNode = openList.DeQueue();
closedList.Add(currentNode);
List <PathFindingNode> neighbors = currentNode.GetTile().GetConnections();
foreach (PathFindingNode neighbor in neighbors)
{
NodeHolder neighborNode = new NodeHolder(neighbor, currentNode, m_endPosition);
if (neighbor.Equals(m_endPosition))
{
Debug.Log("Found Path");
m_finalNode = neighborNode;
callBack(m_finalNode);
yield break;
}
if (openList.Contains(neighborNode))
{
NodeHolder node = openList.FindItem(neighborNode);
if (neighborNode.GetGValue() < node.GetGValue())
{
node.UpdateG(neighborNode);
openList.IncreasePriority(openList.IndexOf(node));
}
if (i % 600 == 0)
{
yield return(null);
}
}
else if (closedList.Contains(neighborNode))
{
int index = closedList.IndexOf(neighborNode);
NodeHolder node = closedList[index];
if (neighborNode.GetGValue() < node.GetGValue())
{
closedList.Remove(node);
}
openList.EnQueue(neighborNode);
if (i % 600 == 0)
{
yield return(null);
}
}
else
{
openList.EnQueue(neighborNode);
}
if (i % 600 == 0)
{
yield return(null);
}
}
}
yield break;
}