public List <Transform> GetPath(Tile startNode, Tile endNode)
{
Tile current = null;
_openList.Clear();
_closedList.Clear();
_path.Clear();
_generator.ResetTiles();
startNode.g = 0;
_openList.Add(startNode);
int i = 0;
while (_openList.Count > 0)
{
_openList.Sort();
current = _openList[_openList.Count - 1];
if (current == endNode) // If destination on the left, stop searching,
{
break;
}
_openList.Remove(current);
int addedNeigbors = 0;
foreach (Tile t in current.neighbors)
{
t.h = Vector3.Magnitude(t.transform.position - endNode.transform.position);
float tentativeG = current.g + Vector3.Magnitude(current.transform.position - t.transform.position);
if (tentativeG <= t.g)
{
t.parent = current;
_closedList.Add(current);
t.g = tentativeG;
t.f = t.g + t.h;
if (!_openList.Contains(t))
{
_openList.Add(t);
}
}
}
Debug.Log("New iteration: " + i
+ " open: " + _openList.Count
+ " closed: " + _closedList.Count
+ " Added neigbors: " + addedNeigbors
+ "Smallest f: " /*+ openList[0].f*/);
i++;
}
//foreach (Tile t in closedList)
// path.Add(t.transform);
bool children = true;
Tile tile1 = endNode;
while (children)
{
_path.Add(tile1.transform);
tile1 = tile1.parent;
if (!tile1)
{
children = false;
}
}
_path.Reverse();
if (current == endNode) // If destination on the left, stop searching,
{
Debug.Log("Done. Path length: " + _path.Count);
}
else
{
Debug.Log("Done. No path possible! Closest path length: " + _path.Count);
}
return(_path);
}
