public AStarSearch(int rows, int cols)
{
Rows = rows;
Cols = cols;
Nodes = new AStarNode[Rows,Cols];
for (int r = 0; r < Rows; r++)
{
for (int c = 0; c < Cols; c++)
{
Nodes[r, c] = new AStarNode();
}
}
}
public void AddToOpenList(AStarNode node, AStarNode current, AStarNode end)
{
if (!node.Passable)
{
return;
}
node.Heuristic = Vector3.Distance(node.Position, end.Position);
node.Cost = (current != null) ? current.Cost + 1 : 0;
node.Parent = current;
node.Closed = true;
if (!OpenList.ContainsKey(node.Cost + node.Heuristic))
{
OpenList[node.Cost + node.Heuristic] = new List<AStarNode>();
}
OpenList[node.Cost + node.Heuristic].Add(node);
}