//public AgentController AgentController
//{
// get { return agent; }
// set { agent = value; }
//}
public void AddAgent(AgentController prevAgent)
{
Agent = prevAgent;
Agent.Update(this);
}
public static List <BlankGrid> FindPath(AgentController agent, BlankGrid destination, bool destinationEmpty) // how to handle destination containing something vs. being empty, or rather what to do when going to an object.
{
var startNode = agent.Cell;
// if contains agent, then make "target node" check for something around it.
HashSet <BlankGrid> closedSet = new HashSet <BlankGrid>();
//Heap<PathfindingNode> openSet = new Heap<PathfindingNode>(agent.Parent.gridHeight * agent.Parent.gridWidth);
List <BlankGrid> openSet = new List <BlankGrid>();
openSet.Add(startNode);
List <BlankGrid> targetNeighbors = GetMoveNeighbors(agent.Parent.GetStateInfo(agent.currentState), destination, new Tuple <int, int>(agent.Parent.gridWidth, agent.Parent.gridHeight));
while (openSet.Count > 0)
{
//PathfindingNode currentNode = openSet.RemoveFirst();// for heap implementation
BlankGrid currentNode = openSet[0];
for (int i = 0; i < openSet.Count; i++)
{
if (openSet[i].FCost < currentNode.FCost || openSet[i].FCost == currentNode.FCost && openSet[i].HCost < currentNode.HCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
// end list version
closedSet.Add(currentNode);
if (destinationEmpty)
{
if (currentNode == destination)
{
return(RetracePath(startNode, currentNode));
}
}
else
{
foreach (var targetNeighbor in targetNeighbors)
{
if (currentNode == targetNeighbor)
{
return(RetracePath(startNode, currentNode));
}
}
}
List <BlankGrid> neighbors = GetMoveNeighbors(agent.Parent.GetStateInfo(agent.currentState), currentNode, new Tuple <int, int>(agent.Parent.gridWidth, agent.Parent.gridHeight));
foreach (var neighbor in neighbors)
{
if (neighbor.ContainsAgent || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCostToNeighbor = currentNode.GCost + GetDistance(currentNode, neighbor);
if (newMovementCostToNeighbor < neighbor.GCost || !openSet.Contains(neighbor))
{
neighbor.GCost = newMovementCostToNeighbor;
neighbor.HCost = GetDistance(neighbor, destination);
neighbor.PathParent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
//else
//{
// openSet[openSet.IndexOf(neighbor)]
//}
}
}
}
return(null);
}
public BlankGrid(int x, int y, AgentController agent, CA Parent) : this(x, y, Parent)
{
AddAgent(agent);
}