public static List <SpaceModel> GetPathToDestination(SpaceModel startSpace, SpaceModel destSpace)
{
List <PathfindingNode> allNodes = new List <PathfindingNode>();
PathfindingNode currentnode = new PathfindingNode(startSpace, null, 0, 0, true, destSpace);
allNodes.Add(currentnode);
bool done = false;
while (!done)
{
foreach (SpaceModel adjacentSpace in currentnode.GetSpace().GetAdjacentSpaces())
{
if (adjacentSpace != null)
{
if (adjacentSpace.GetNode() == null)
{
// Is null, need new node
int newNodeCost = currentnode.GetCost() + adjacentSpace.GetMovementCost();
double newPathfindingCost = newNodeCost;
if (adjacentSpace.IsHazardous())
{
newPathfindingCost += 10;
}
if (adjacentSpace == destSpace)
{
newPathfindingCost = 1;
}
PathfindingNode newNode = new PathfindingNode(adjacentSpace, currentnode, newNodeCost, newPathfindingCost, false, destSpace);
allNodes.Add(newNode);
adjacentSpace.SetNode(newNode);
}
else
{
// not null, there is a node here
PathfindingNode nextNode = adjacentSpace.GetNode();
int newNodeCost = currentnode.GetCost() + adjacentSpace.GetMovementCost();
double newPathfindingCost = newNodeCost;
if (adjacentSpace.IsHazardous())
{
newPathfindingCost += 10;
}
if (!nextNode.BeenSeen())
{
// Next node hasn't been visited yet
nextNode.Update(newNodeCost, newPathfindingCost, currentnode);
}
}
}
}
currentnode.Seen();
if (!currentnode.GetSpace().Equals(destSpace))
{
PathfindingNode lowestNode = null;
foreach (PathfindingNode node in allNodes)
{
if (!node.BeenSeen())
{
if (lowestNode == null)
{
lowestNode = node;
}
else
{
if (node.GetASCost() <= lowestNode.GetASCost())
{
if (node.GetRemainingCost() <= lowestNode.GetRemainingCost())
{
lowestNode = node;
}
}
}
}
}
if (lowestNode == null)
{
done = true;
}
else
{
currentnode = lowestNode;
}
}
else
{
done = true;
}
}
List <SpaceModel> path = new List <SpaceModel>();
PathfindingNode backtrackNode = currentnode;
while (backtrackNode != null)
{
path.Add(backtrackNode.GetSpace());
backtrackNode = backtrackNode.GetParent();
}
path.Reverse();
foreach (PathfindingNode node in allNodes)
{
node.GetSpace().SetNode(null);
//node.GetSpace().ClearHighlighted();
}
path.Remove(startSpace);
return(path);
}
