/**
*
* @param from
* unit's current location
* @param to
* the destination
* @param isHillPassable
* true if unit can fly, otherwise false
* @return a valid plan for the unit to follow (barring movement barriers),
* or an empty list of coords if no valid plan is found
*/
public List<Coords> calculateMovementPlan(Graph g, Coords from, Coords to)
{
// run A*
//Console.WriteLine("Calculating path from " + from + " to " + to);
AStar astar = new AStar ();
MapLocation start = new MapLocation (from);
/*
List<Connection> conns = g.getConnections(start);
foreach (Connection conn in conns) {
Console.WriteLine("conn from start: " + conn);
List<Connection> nextConns = g.getConnections(conn.getToNode());
foreach(Connection c2 in nextConns) {
Console.WriteLine("second level connections " + c2);
}
}
*/
MapLocation goal = new MapLocation (to);
ManhattanHeuristic heuristic = new ManhattanHeuristic (goal);
List<Connection> path = astar.pathfindAStar (g, start, goal, heuristic);
// localize plan
List<Coords> coords = new List<Coords> ();
if (path != null) {
coords = localization (path);
/*
Console.Write ("Found path: ");
foreach(Coords coord in coords) {
Console.Write (coord);
}
Console.WriteLine();
*/
} else {
Console.WriteLine("no path found");
}
return coords;
}