//Constructor
public Path(PathingNode pEndNode)
{
while (pEndNode != null)
{
arrPositions.Insert(0, pEndNode.Position);
pEndNode = pEndNode.OriginNode;
}
}
public PathingNode(HexVector pPosition, float pDistanceFromEnd, PathingNode pOrigin) : this(pPosition, pDistanceFromEnd)
{
Origin = pOrigin;
}
public Path FindPath(HexVector pStart, HexVector pEnd, int pMaxHeightDifference)
{
//Check if start and end exist
if (Exists(pStart) && Exists(pEnd))
{
//Variables
List <HexVector> arrClosed = new List <HexVector>(); //List of all positions that are already checked
List <PathingNode> arrOpen = new List <PathingNode>(); //List of all positions that are not checked but are neightbours of checked hexes
arrOpen.Add(new PathingNode(pStart, HexVector.Distance(pStart, pEnd)));
//Loop until path found
while (arrOpen.Count > 0)
{
//Take lowest cost node
PathingNode CurrentNode = arrOpen[0];
for (int intN = 1; intN < arrOpen.Count; intN++)
{
if ((arrOpen[intN].Cost < CurrentNode.Cost) || (arrOpen[intN].Cost == CurrentNode.Cost && arrOpen[intN].CostFromEnd < CurrentNode.CostFromEnd))
{
CurrentNode = arrOpen[intN];
}
}
arrOpen.Remove(CurrentNode);
arrClosed.Add(CurrentNode.Position);
//Test if path is found
if (CurrentNode.Position.Equals(pEnd))
{
return(new Path(CurrentNode));
}
//Get neighbours
List <HexTemplateType> arrNeighbours = base.GetNeighbours(CurrentNode.Position);
foreach (HexTemplateType thisHex in arrNeighbours)
{
if (thisHex.IsObstacle || arrClosed.Contains(thisHex.Position) || Mathf.Abs(Get(CurrentNode.Position).Height - thisHex.Height) > pMaxHeightDifference)
{
continue;
}
else
{
//Search if node already exists
PathingNode neighbourNode = null;
neighbourNode = arrOpen.Find(h => (h.Position.Equals(thisHex.Position)));
if (neighbourNode == null)
{
//Make a node for the new hex
float fltDistanceToEnd = HexVector.Distance(thisHex.Position, pEnd);
neighbourNode = new PathingNode(thisHex.Position, fltDistanceToEnd, CurrentNode);
arrOpen.Add(neighbourNode);
}
else
{
//update the found hex's origin
neighbourNode.OriginNode = CurrentNode;
}
}
}
}
return(null);
}
return(null);
}
