public Vec2int[] findPath(int startX, int startY, int goalX, int goalY, int restrictCost, bool ignorecollision)
{
if((!ignorecollision && (!tiles[startX, startY].traversable || !tiles[goalX, goalY].traversable)) || (startX == goalX && startY == goalY)) return null;
List<PathNode> reachable = new List<PathNode>();
List<PathNode> visited = new List<PathNode>();
reachable.Add(new PathNode(startX, startY));
while(reachable.Count != 0){
PathNode cheapest = new PathNode();
float fcost = -1;
foreach(PathNode node in reachable){
if(fcost == -1 || node.f <= fcost){
fcost = node.f;
cheapest = node;
}
}
if(cheapest.g >= restrictCost){
return null;
}
visited.Add(cheapest);
reachable.Remove(cheapest);
foreach(Hexagon hex in tiles[cheapest.x, cheapest.y].getAdjacent()){
bool gotVisited = false;
foreach(PathNode vNode in visited){
if(hex.gridPos.x == vNode.x && hex.gridPos.y == vNode.y){
gotVisited = true;
break;
}
}
if((hex.traversable || ignorecollision) && !gotVisited){
bool isReachable= false;
foreach(PathNode rNode in reachable){
if(hex.gridPos.x == rNode.x && hex.gridPos.y == rNode.y){
isReachable = true;
rNode.tryAlternative(cheapest);
break;
}
}
if(!isReachable){
PathNode nNode = new PathNode(hex.gridPos.x, hex.gridPos.y, cheapest, goalX, goalY);
if(hex.gridPos.x == goalX && hex.gridPos.y == goalY) return nNode.toPath();
reachable.Add(nNode);
}
}
}
}
return null;
}