public MapPath FindPath(int startX, int startY, int endX, int endY, bool useHeuristic = true)
{
if (field == null)
return null;
UseHeuristic = useHeuristic;
List<AStarNode> Closed = new List<AStarNode>();
BinaryHeap<AStarNode> OpenHeap = new BinaryHeap<AStarNode>(fieldWidth * fieldHeight);
AStarNode Root;
Root = new AStarNode();
Root.parent = null;
Root.X = startX;
Root.Y = startY;
Root.G = 0;
int offX = Math.Abs(Root.X - endX);
int offY = Math.Abs(Root.Y - endY);
if (UseHeuristic == false)
{
Root.H = 0;
}
else
{
if (offX > offY)
Root.H = 14 * offY + 10 * (offX - offY);
else
Root.H = 14 * offX + 10 * (offY - offX);
}
OpenHeap.Add(Root.F, Root);
int res = ProcessLowestNode (endX, endY, Closed, OpenHeap);
while (res == 0)
{
res = ProcessLowestNode(endX, endY, Closed, OpenHeap);
}
if (res == -1)
return null;
AStarNode node = null;
if (res == 1)
node = GetClosedNode(endX, endY, Closed);
else if (res == 2)
node = Closed[Closed.Count - 1];
MapPath result = new MapPath ();
result.BuildFromFinalAStarNode (node);
return result;
}
public MapPath FindPath(int startX, int startY, int endX, int endY, bool useHeuristic = true)
{
if (field == null)
{
return(null);
}
UseHeuristic = useHeuristic;
List <AStarNode> Closed = new List <AStarNode>();
BinaryHeap <AStarNode> OpenHeap = new BinaryHeap <AStarNode>(fieldWidth * fieldHeight);
AStarNode Root;
Root = new AStarNode();
Root.parent = null;
Root.X = startX;
Root.Y = startY;
Root.G = 0;
int offX = Math.Abs(Root.X - endX);
int offY = Math.Abs(Root.Y - endY);
if (UseHeuristic == false)
{
Root.H = 0;
}
else
{
if (offX > offY)
{
Root.H = 14 * offY + 10 * (offX - offY);
}
else
{
Root.H = 14 * offX + 10 * (offY - offX);
}
}
OpenHeap.Add(Root.F, Root);
int res = ProcessLowestNode(endX, endY, Closed, OpenHeap);
while (res == 0)
{
res = ProcessLowestNode(endX, endY, Closed, OpenHeap);
}
if (res == -1)
{
return(null);
}
AStarNode node = null;
if (res == 1)
{
node = GetClosedNode(endX, endY, Closed);
}
else if (res == 2)
{
node = Closed[Closed.Count - 1];
}
MapPath result = new MapPath();
result.BuildFromFinalAStarNode(node);
return(result);
}
