private void PathOpened(int x, int y, int newCost, SearchCell parent)
{
// Debug.Log(x+","+y);
if (x < 0 || y < 0)
{
return;
}
if (x >= GameObject.Find("Main Camera").GetComponent <LoadMap>().m_cols ||
y >= GameObject.Find("Main Camera").GetComponent <LoadMap>().m_rows)
{
return;
}
if (GameObject.Find("Main Camera").GetComponent <LoadMap>().Grid[y][x] == 'b')
{
return;
}
int id = y * WORLD_SIZE + x;
for (int i = 0; i < scPtr_visitedList.Count; i++)
{
if (id == scPtr_visitedList[i].m_id)
{
return;
}
}
SearchCell newChild = new SearchCell(x, y, parent);
newChild.G = newCost;
newChild.H = parent.ManHattanDis(scPtr_goalCell);
for (int i = 0; i < scPtr_openList.Count; i++)
{
if (id == scPtr_openList[i].m_id)
{
int newF = newChild.G + newCost + scPtr_openList[i].H;
if (scPtr_openList[i].GetF() > newF)
{
scPtr_openList[i].G = newChild.G + newCost;
scPtr_openList[i].scPtrParent = newChild;
}
else //if the new F is not better
{
return;
}
}
}
scPtr_openList.Add(newChild);
}
private void SetStartAndGoal(SearchCell start, SearchCell goal)
{
SearchCell nullSc = new SearchCell();
nullSc.m_xcoord = -9999;
scPtr_startCell = new SearchCell(start.m_xcoord, start.m_ycoord, nullSc);
scPtr_goalCell = new SearchCell(goal.m_xcoord, goal.m_ycoord, goal);
scPtr_startCell.G = 0;
scPtr_startCell.H = scPtr_startCell.ManHattanDis(scPtr_goalCell);
//m_startCell.parent = nullptr;
scPtr_openList.Add(scPtr_startCell);
}