public static List<Vector4> Plan(Vector4 start, Vector4 target, Map m, int weight, bool canTimeTravel)
{
if (!canTimeTravel && target.w != start.w) {
return new List<Vector4> ();
}
PQ pq = new PQ();
HashSet<Vector4> visited = new HashSet<Vector4>();
int target_x = m.getRowNumber(target.x);
int target_y = m.getVerNumber(target.y);
int target_z = m.getColNumber(target.z);
int target_w = (int)target.w;
int start_x = m.getRowNumber(start.x);
int start_y = m.getVerNumber(start.y);
int start_z = m.getColNumber(start.z);
int start_w = (int)start.w;
float eDist = Node.euclideanDistance(start_x, start_y, start_z, start_w, target_x, target_y, target_z, target_w);
Node init = new Node(start_x, start_y, start_z, start_w, 0, eDist, new List<Vector4>());
pq.insert(init);
int[][,,] inf_map = m.getInfluenceMapCopy ();
Map.subtractInfluenceMap(start, weight, inf_map);
while (!pq.isEmpty())
{
Node n = pq.pop();
visited.Add(new Vector4(n.x, n.y, n.z, n.w));
if (n.x == target_x && n.y == target_y && n.z == target_z && n.w == target_w)
{
return n.path;
}
processNextActions(pq, visited, n, target_x, target_y, target_z, target_w, m, inf_map, canTimeTravel);
}
return new List<Vector4> ();
}
