public List<Cell> FindCellPath(Vector2 startPoint, Vector2 endPoint)
{
List<PathNode> closedList = new List<PathNode>();
List<PathNode> openList = new List<PathNode>();
List<Cell> cellPath = new List<Cell>();
Cell currentCell = world.getCellFromPixelPos(startPoint);
Cell endCell = world.getCellFromPixelPos(endPoint);
if (currentCell == endCell | endCell.Collision)
return null;
PathNode current = new PathNode(currentCell, null, 0, 0);
openList.Add(current);
while (true)
{
// get adjacent cells
Cell[] adjacentcells = world.getCellArray(current.mapCell);
foreach (Cell cell in adjacentcells)
{
if ((!cell.Collision) & !nodeInList(cell, closedList))
{
//int distance = (int)Vector2.Distance(cell.tilePosition, endCell.tilePosition);
int h = 10 * (int)(Math.Abs(cell.tilePosition.X - endCell.tilePosition.X) + Math.Abs(cell.tilePosition.Y - endCell.tilePosition.Y));
int g = 10 + cell.OccupiedCount;
if (!nodeInList(cell, openList))
{
openList.Add(new PathNode(cell, current, g, h));
}
else
{
PathNode node = getPathNodeByCell(cell, openList);
node.cost = g + h;
}
cell.cost = g+h;
}
}
int testCost = 100000;
openList.Remove(current);
closedList.Add(current);
foreach (PathNode node in openList)
{
if (node.cost <= testCost)
{
current = node;
testCost = node.cost;
}
}
if (closedList.Count > 5000)
{
return null;
}
else if (current.mapCell.tilePosition == endCell.tilePosition )
{
closedList.Add(current);
break;
}
} //while loop
while (current != null)
{
cellPath.Insert(0, current.mapCell);
//current.mapCell.color = Color.Red;
current = current.parent;
}
return cellPath;
}
public PathNode(Cell mapCell, PathNode parent, int g, int h)
{
this.mapCell = mapCell;
this.parent = parent;
this.g = g;
this.cost = g + h;
}
