public static List<Tile> Astar(Map map, Tile Start, Tile End)
{
Nodelist<Node> openlist = new Nodelist<Node>();
Nodelist<Node> closelist = new Nodelist<Node>();
List<Node> possibleNode;
int possibleNodeCount;
Node StartNode = new Node(Start, null, End);
List<Tile> sol = new List<Tile>();
openlist.Add(StartNode);
while (openlist.Count>0)
{
Node current = openlist[0];
openlist.RemoveAt(0);
closelist.Add(current);
if (current.Tile.X==End.X && current.Tile.Y == End.Y)
{
while (current.Parent != null)
{
sol.Insert(0, current.Tile);
current = current.Parent;
}
return sol;
}
possibleNode = current.GetPossibleNode(map, End);
possibleNodeCount = possibleNode.Count;
for (int i = 0; i < possibleNodeCount; i++)
{
if (!closelist.Contains(possibleNode[i]))
{
if (openlist.Contains(possibleNode[i]))
{
if (possibleNode[i].Heuristic < openlist[possibleNode[i]].Heuristic)
openlist[possibleNode[i]].Parent = current;
}
else
openlist.DichotomicInsertion(possibleNode[i]);
}
}
}
sol.Add(Start);
return sol;
}
public Node(Tile tile, Node Parent, Tile destination)
{
this.tile = tile;
this.Parent = Parent;
this.heuristic = Math.Abs(tile.X - destination.X) + Math.Abs(tile.Y - destination.Y) + (int)tile.Type;
}
