private List <Node> AStar(Node start, Node target)
{
List <Node> path = new List <Node>();
List <Node> openSet = new List <Node>();
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(start);
while (openSet.Count > 0)
{
Node current = openSet[0];
for (int i = 0; i < openSet.Count; i++)
{
if (openSet[i].fCost < current.fCost ||
(openSet[i].fCost == current.fCost &&
openSet[i].hCost < current.hCost))
{
if (!current.Equals(openSet[i]))
{
current = openSet[i];
}
}
}
openSet.Remove(current);
closedSet.Add(current);
if (current.Equals(target))
{
return(Backtrace(start, current));
}
foreach (Node neighbour in _gridGenerator.GetNeighbours(current))
{
if (neighbour.obstructed || closedSet.Contains(neighbour))
{
continue;
}
float moveCost = current.gCost + GetDistance(current, neighbour);
if (moveCost < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = moveCost;
neighbour.hCost = GetDistance(neighbour, target);
neighbour.parent = current;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
return(null);
}
