public override void StartAlgorithm(TDTile start, TDTile end, TGMap map)
{
algoSteps.Clear();
SimplePriorityQueue <TDTile> frontier = new SimplePriorityQueue <TDTile>();
frontier.Enqueue(start, 0);
Dictionary <TDTile, TDTile> cameFrom = new Dictionary <TDTile, TDTile>();
cameFrom.Add(start, null);
float priority = 0.0f;
while (frontier.Count > 0)
{
TDTile currentTile = frontier.Dequeue();
Debug.Log("Dequeue Tile: " + currentTile.GetHashCode());
if (currentTile.GetTileType() == (int)TILE_TYPE.ENDPOINT)
{
break;
}
AlgorithmStep algoStep = new AlgorithmStep(currentTile);
algoSteps.Add(algoStep);
foreach (TDTile nextTile in currentTile.neighbours)
{
if (nextTile == null || nextTile.GetTileType() == (int)TILE_TYPE.WATER || nextTile.GetTileType() == (int)TILE_TYPE.WALL)
{
continue;
}
// diagonal step check: if neighbour is diagonal but diagonal step not allowed --> we skip
if (IsDiagonalNeighbour(currentTile, nextTile) && !IsDiagonalStepAllowed())
{
continue;
}
algoTiles.Add(nextTile);
if (!cameFrom.ContainsKey(nextTile))
{
priority = Heuristic(end, nextTile) + ComputeVectorCrossProduct(start, end, nextTile); // TODO: add priority field to TDTile? to debug and or display priority in game
frontier.Enqueue(nextTile, priority);
//Debug.Log("Enqueue Tile: " + nextTile.GetHashCode() + " - priority: " + priority);
cameFrom.Add(nextTile, currentTile);
algoStep.NeighbourTiles.Add(nextTile); // WRONG! WE NEED TO LOOK AT THE TILE WITH LOWEST HEURISTIC FIRST
}
}
}
GeneratePath(end, cameFrom);
}