public bool isLastContain(List <AStarNodeItem> pList, AStarNodeItem pNode)
{
foreach (var v in pList)
{
if (v.x == pNode.x && v.y == pNode.y)
{
return(true);
}
}
return(false);
}
// A* ALG.
/*
* @ param src: start point
* @ param des: end point
* @param pAStarComputer: find path method
* @return : a list point as Stack
*
*/
public Stack <Vector3> AStarFindPath(Vector3 src, Vector3 des, AStarComputer pAStarComputer)
{
PriorityQueue <AStarNodeItem> openList = new PriorityQueue <AStarNodeItem> (10, new AStarNodeItemCamparer());
List <AStarNodeItem> closedList = new List <AStarNodeItem> ();
Stack <Vector3> pathLast = new Stack <Vector3> ();
Vector2 start = getTilefromPosition(new Vector2(src.x, src.z));
Vector2 end = getTilefromPosition(new Vector2(des.x, des.z));
int count = 0;
if (!(start.x == end.x && start.y == end.y))
{
AStarNodeItem AStarforStart = new AStarNodeItem(src, (int)start.x, (int)start.y);
AStarforStart.gCost = 0;
AStarforStart.hCost = pAStarComputer(src, des);
openList.Push(AStarforStart);
}
while (openList.Count != 0)
{
if (count >= 1000)
{
break;
}
AStarNodeItem tAStarNodeItem = openList.Pop();
if (tAStarNodeItem.x == end.x && tAStarNodeItem.y == end.y)
{
while (tAStarNodeItem.parent != null)
{
int index = mDictionary ["Collision"];
pathLast.Push(tAStarNodeItem.pos);
tAStarNodeItem = tAStarNodeItem.parent;
}
return(pathLast);
}
closedList.Add(tAStarNodeItem);
for (int i = 0; i < NineGrid.Length; i++)
{
if (tAStarNodeItem.x + NineGrid [i].x < 0 || tAStarNodeItem.x + NineGrid [i].x >= wtileCount || tAStarNodeItem.y + NineGrid [i].y >= htileCount || tAStarNodeItem.y + NineGrid [i].y < 0)
{
continue;
}
Vector2 tv = new Vector2(tAStarNodeItem.x + NineGrid[i].x, tAStarNodeItem.y + NineGrid[i].y);
Vector3 tp = GetPositionByTile(tv);
AStarNodeItem ttAStarNodeItem = new AStarNodeItem(tp, (int)tv.x, (int)tv.y);
if (isLastContain(closedList, ttAStarNodeItem) || isWall(new Vector2(tAStarNodeItem.x + NineGrid [i].x, tAStarNodeItem.y + NineGrid [i].y)))
{
continue;
}
ttAStarNodeItem.parent = tAStarNodeItem;
ttAStarNodeItem.gCost = (int)(NineGrid [i].magnitude * 10);
ttAStarNodeItem.hCost = pAStarComputer(tp, des);
openList.Push(ttAStarNodeItem);
}
count++;
}
//Debug.Log ("NEW");
return(new Stack <Vector3>());
}
