public IEnumerator StartFinding(PathFinding pathFinding)
{
_searchingList = new List <MapPosition>();
_searchingMap = new AStarScore[pathFinding.OriginMap.GetLength(0), pathFinding.OriginMap.GetLength(1)];
_searchingMap[pathFinding.StartPoint.PosX, pathFinding.StartPoint.PosY] = new AStarScore(0, 0);
_searchingList.Add(pathFinding.StartPoint);
var checkingPos = _searchingList[0];
_searchingList.RemoveAt(0);
while (!checkingPos.Equals(pathFinding.EndPoint))
{
if (CheckPos(-1, 0))
{
yield break;
}
if (CheckPos(1, 0))
{
yield break;
}
if (CheckPos(0, -1))
{
yield break;
}
if (CheckPos(0, 1))
{
yield break;
}
_searchingList.Sort((MapPosition posA, MapPosition posB) =>
{
var aStarA = _searchingMap[posA.PosX, posA.PosY];
var aStarB = _searchingMap[posB.PosX, posB.PosY];
return(aStarA.CompareTo(aStarB));
});
checkingPos = _searchingList[0];
_searchingList.RemoveAt(0);
yield return(null);
}
bool CheckPos(int offsetX, int offsetY)
{
int nextX = checkingPos.PosX + offsetX;
int nextY = checkingPos.PosY + offsetY;
if (nextX < 0 || nextX >= PathFinding.MAP_HEIGHT)
{
return(false);
}
if (nextY < 0 || nextY >= PathFinding.MAP_WIDTH)
{
return(false);
}
var tempScore = _searchingMap[nextX, nextY];
//if (tempScore != null) { return false; }
var checkingScore = _searchingMap[checkingPos.PosX, checkingPos.PosY];
var tempPos = new MapPosition(nextX, nextY);
if (pathFinding.OriginMap[nextX, nextY] == PathFinding.POINT_END)
{
var a = new AStarScore(checkingScore.G + 1, 0);
a.SetParent(checkingPos);
_searchingMap[nextX, nextY] = a;
UpdateSearchBlock(pathFinding, nextX, nextY);
pathFinding.SetIsFound(true);
_searchingList.Clear();
return(true);
}
if (pathFinding.OriginMap[nextX, nextY] == PathFinding.POINT_EMPTY)
{
if (tempScore == null)
{
var a = new AStarScore(checkingScore.G + 1, MapPosition.AStarDistance(tempPos, pathFinding.EndPoint));
a.SetParent(checkingPos);
_searchingMap[nextX, nextY] = a;
_searchingList.Add(tempPos);
}
else if (tempScore.G > checkingScore.G + 1)
{
tempScore.SetGScore(checkingScore.G + 1);
tempScore.SetParent(checkingPos);
if (!_searchingList.Contains(tempPos))
{
_searchingList.Add(tempPos);
}
}
UpdateSearchBlock(pathFinding, nextX, nextY);
}
return(false);
}
}