public static List<Vector2> AStarPathFind (Vector2 start, Vector2 goal, Environment envr, bool ignoreMovement=false){
List<Node> pointList = new List<Node>();
Dictionary<Vector2, Node> closedList = new Dictionary<Vector2, Node>();
// Initialise the start node and make it the singular point in the pointList
Node startNode = new Node();
startNode.InitaliseStart (start);
pointList.Add (startNode);
Node goalNode = new Node();
//print("AStarPathFindFurther");
// While there are still valid points
while (pointList.Count > 0){
// Find the node with the highest fValue.
Node currentNode = FindHighestPriority(pointList);
closedList[currentNode.coords] = currentNode;
pointList.Remove(currentNode);
// If it's the goal break put of the loop
if ( currentNode.coords.Equals(goal) )
{
goalNode = currentNode;
break;
}
foreach (Node neighbour in FindNeighbourNodes(currentNode, envr, ignoreMovement)) {
if ( !closedList.ContainsKey(neighbour.coords) ) {
int newCost = neighbour.CalculateCost(currentNode);
if (pointList.Exists (x => (x.coords == neighbour.coords))) {
int index = pointList.FindIndex (x => (x.coords == neighbour.coords));
if (newCost < pointList [index].gValue) {
pointList [index].SetGValue(newCost);
pointList [index].CalculatePriority (goal);
pointList [index].SetParentNode (new Vector2 (currentNode.coords.x, currentNode.coords.y));
}
} else {
neighbour.SetGValue(newCost);
neighbour.CalculatePriority (goal);
neighbour.SetParentNode (new Vector2 (currentNode.coords.x, currentNode.coords.y));
pointList.Add (neighbour);
}
}
/*else if(pointList.Exists(x => (x.coords == neighbour.coords) )){
List<Node> removeList = pointList.FindAll (x => (x.coords == neighbour.coords) );
foreach (Node rm in removeList) {
pointList.Remove (rm);
}
neighbour.CalculatePriority( goal );
neighbour.SetParentNode(new Vector2(currentNode.coords.x, currentNode.coords.y));
pointList.Add(neighbour);
}*/
/*else if(newCost < closedList[neighbour.coords].gValue){
closedList [neighbour.coords].CalculatePriority (goal);
closedList [neighbour.coords].SetParentNode(currentNode.coords);
//closedList.Remove (neighbour.coords);
neighbour.CalculatePriority( goal );
neighbour.SetParentNode(currentNode.coords);
pointList.Add(neighbour);
}*/
}
}
List<Vector2> goalPath = CreatePathToGoal(goalNode, start, closedList);
goalPath.Reverse ();
if (goalPath.Count > 0) {
goalPath.RemoveAt (0);
}
if(goal != Vector2.zero && goalPath.Count > 0 && goalPath[goalPath.Count-1] == Vector2.zero){
goalPath.Clear ();
}
return goalPath;
}
