/// <summary>
/// Find path.
/// </summary>
public static List <Field> FindPath(WorldManager worldManager, Field startField, Field destinationField, bool isCrew, CrewStation ownCrewStation)
{
List <Field> path = new List <Field>();
List <Field> FieldsTocheck = new List <Field>();
Dictionary <Field, float> costDictionary = new Dictionary <Field, float>();
Dictionary <Field, float> priorityDictionary = new Dictionary <Field, float>();
Dictionary <Field, Field> parentsDictionary = new Dictionary <Field, Field>();
FieldsTocheck.Add(startField);
priorityDictionary.Add(startField, 0);
costDictionary.Add(startField, 0);
parentsDictionary.Add(startField, null);
while (FieldsTocheck.Count > 0)
{
Field currentField = GetClosestVertex(FieldsTocheck, priorityDictionary);
FieldsTocheck.Remove(currentField);
if (currentField.Equals(destinationField))
{
path = GeneratePath(parentsDictionary, currentField);
return(path);
}
foreach (Field walkabledjacentField in worldManager.GetWalkableAdjacentFields(currentField, isCrew, ownCrewStation))
{
float newCost = costDictionary[currentField] + worldManager.GetCostOfEnteringField(walkabledjacentField);
if (!costDictionary.ContainsKey(walkabledjacentField) || newCost < costDictionary[walkabledjacentField])
{
costDictionary[walkabledjacentField] = newCost;
float priority = newCost + GetManhattanDistance(destinationField, walkabledjacentField);
FieldsTocheck.Add(walkabledjacentField);
priorityDictionary[walkabledjacentField] = priority;
parentsDictionary[walkabledjacentField] = currentField;
}
}
}
return(path);
}
/// <summary>
/// Set crew station.
/// </summary>
public void SetCrewStation(CrewStation crewStation)
{
this.crewStation = crewStation;
}
