public static void reconstructPath(BaseTile start, AStarholder a, List<AStarholder> returnable)
{
if(a!= null){
if(a.current.Ident == start.Ident){
returnable.Add(a);
}else{
reconstructPath(start, a.parent, returnable);
returnable.Add(a);
}
}
}
public AStarholder(BaseTile current, AStarholder parent)
{
this.current = current;
this.parent = parent;
}
public static List<AStarholder> aStarSearch(BaseTile start, BaseTile end, int currentAp, GetLocalTiles LocalMethod, TeamInfo team)
{
Dictionary<int, AStarholder> closedSet = new Dictionary<int, AStarholder>();
Dictionary<int, AStarholder> openSet = new Dictionary<int, AStarholder>();
AStarholder current = new AStarholder(start, null);
current.hurVal = current.current.calcHueristic(current.current, end);
//current.apAtThisTurn = currentAp;
current.pathCostToHere = 0;
openSet.Add(current.current.Ident, current);
List<AStarholder> returnable = new List<AStarholder>();
while (openSet.Count >0){
openSet.Remove(current.current.Ident);
closedSet.Add(current.current.Ident, current);
if(current.current.Ident == end.Ident){ BaseTile.reconstructPath(start, current, returnable); return returnable;}
List<BaseTile> listies =LocalMethod(current.current, team);
listies.ForEach(delegate (BaseTile bt){
if(!closedSet.ContainsKey(bt.Ident)){
AStarholder newOpen = new AStarholder(bt, current);
newOpen.hurVal = newOpen.current.calcHueristic(newOpen.current, end);
//newOpen.apAtThisTurn = current.apAtThisTurn - newOpen.current.MoveCost;
newOpen.pathCostToHere = newOpen.current.MoveCost + current.pathCostToHere;
if(openSet.ContainsKey(bt.Ident)){
if(openSet[bt.Ident].fVal > newOpen.fVal){
openSet[bt.Ident] = newOpen;
}
}
else{
openSet.Add (bt.Ident, newOpen);
}
}
});
current = null;
foreach(KeyValuePair<int, AStarholder> val in openSet){
if(current == null){
current = val.Value;
}
if(current.fVal > val.Value.fVal){
current = val.Value;
}
}
}
//Ran out of moves, find the lowest HurVal and return path to it
AStarholder finalNode = null;
foreach(KeyValuePair<int, AStarholder> val in openSet){
if(finalNode == null){
finalNode = val.Value;
}
if(current.fVal > val.Value.fVal){
finalNode = val.Value;
}
}
BaseTile.reconstructPath(start, finalNode, returnable);
return returnable;
}
