public List <Vector2> FindPath(Vector2 startPosition, Vector2 endPosition, char[,] map, char[] collisions)
{
this.map = map;
width = map.GetLength(1);
heigth = map.GetLength(0);
GridWorld world = new GridWorld(map, collisions, this);
GridState initialState = new GridState(startPosition, this);
Console.WriteLine(initialState.ToString());
GridGoal goal = new GridGoal(endPosition);
GridHeuristic heuristic = new GridHeuristic(goal);
List <Operation> operations = AStarGenerator.GeneratePlan(world, initialState, goal, heuristic);
//Si pas de chemin
if (operations == null)
{
return(null);
}
//Convertis les chemins en vector2
List <Vector2> directions = new List <Vector2>();
for (int i = 0; i < operations.Count; i++)
{
GridOperation gridOperation = (GridOperation)operations[i];
directions.Add(gridOperation.direction);
}
return(directions);
}
public GridHeuristic(GridGoal gridGoal)
{
this.gridGoal = gridGoal;
}
