private void ExplorePiece(ISquarePiece piece, List <ISquarePiece> currentPath, List <ISquarePiece> visited)
{
if (TimeExpired)
{
return;
}
var neighbours = AIHelpers.GetNeighbours(restriction, piece);
bool executed = false;
while (neighbours.Count > 0 && currentPath.Count < MaxAllowed)
{
var nextPiece = neighbours.Pop();
if (currentPath.Contains(nextPiece))
{
continue;
}
else
{
executed = true;
visited.Add(nextPiece);
currentPath.Add(nextPiece);
}
ExplorePiece(nextPiece, currentPath, visited);
}
if (!executed)
{
bestMove.Add(currentPath.Select(x => x).ToList());
}
currentPath.Remove(piece);
}
public List <Vector2Int> FindPath(Vector2Int from, Vector2Int target, IRestriction restriction)
{
var route = new Stack <AStarNode>();
var visited = new Stack <AStarNode>();
var startingIndicator = new Vector2Int(-1, -1);
bool targetReached = false;
route.Push(new AStarNode()
{
Location = from, Parent = startingIndicator, Distance = Vector2Int.Distance(from, target)
});
var r = new AStarNode();
while (route.Count > 0)
{
r = route.Pop();
if (r.Location == target)
{
targetReached = true;
break;
}
var piece = PieceManager.Instance.GetPiece(r.Location.x, r.Location.y);
var neighbours = AIHelpers.GetNeighbours(restriction, piece);
foreach (var neighbour in neighbours)
{
if (visited.Any(x => x.Location == neighbour.Position))
{
continue;
}
route.Push(new AStarNode()
{
Location = neighbour.Position, Parent = r.Location, Distance = Vector2Int.Distance(neighbour.Position, target)
});
}
route.OrderBy(x => x.Distance);
visited.Push(r);
}
if (!targetReached)
{
return(new List <Vector2Int>());
}
var bestRoute = new Stack <Vector2Int>(); // Store our best route
bestRoute.Clear();
bestRoute.Push(target); // Add the target location (it will appear at the bottom so it'll be the last location to visit)
var searchingParent = r.Parent; // Get the parent of the last location we visited(which will be the target location). Got to find its parent.
// While we haven't reached the target location...
while (!searchingParent.Equals(startingIndicator))
{
// Go through each location and compare it against the parent we are looking for
while (!visited.Peek().Location.Equals(searchingParent))
{
visited.Pop();
}
// Found the parent! Now look for it's parent and store it's location
searchingParent = visited.Peek().Parent;
bestRoute.Push(visited.Pop().Location);
}
// We now have a list of of the tiles we need to move to to get to the target location. Return it as an array.
return(bestRoute.ToList());
}
