public List <Vector3> PathFind(aStarPoint NodeStart, aStarPoint NodeFinish)
{
Heap <aStarPoint> openList = new Heap <aStarPoint>(mc.mapStarMap.GetLength(0) * mc.mapStarMap.GetLength(1));
List <aStarPoint> closedList = new List <aStarPoint> ();
openList.Add(NodeStart);
int t = 0;
while (openList.Count > 0)
{
t++;
aStarPoint currentNode = openList.RemoveFirst();
closedList.Add(currentNode);
if (currentNode == NodeFinish)
{
List <Vector3> Path = new List <Vector3> ();
aStarPoint Node = NodeFinish;
while (Node != NodeStart)
{
Path.Add(Node.Location);
Node = Node.parent;
}
foreach (aStarPoint a in mc.mapStarMap)
{
a.reset();
}
Path.Reverse();
return(Path);
}
List <aStarPoint> neighbours = findValidNeighbours(currentNode);
foreach (aStarPoint node in neighbours)
{
if (closedList.Contains(node))
{
continue;
}
int g = Mathf.RoundToInt(Vector2.Distance(node.gridPosition(), currentNode.gridPosition()) * 10);
int h = GetDistance(node, NodeFinish);
int f = g + h;
if (f < node.f || !openList.Contains(node))
{
node.f = f;
node.h = h;
node.g = g;
node.parent = currentNode;
if (!openList.Contains(node))
{
openList.Add(node);
openList.UpdateItem(node);
}
}
}
}
return(null);
}
protected override void ThreadFunction()
{
Heap <aStarPoint> openList = new Heap <aStarPoint>(mc.mapStarMap.GetLength(0) * mc.mapStarMap.GetLength(1));
List <aStarPoint> closedList = new List <aStarPoint> ();
openList.Add(Location);
int t = 0;
while (openList.Count > 0)
{
t++;
aStarPoint currentNode = openList.RemoveFirst();
closedList.Add(currentNode);
/*
* if (currentNode == Destination) {
* List <Vector3> Path = new List<Vector3> ();
* aStarPoint Node = Destination;
* while(Node != Location){
* Path.Add (Node.Location);
* Node = Node.parent;
* }
* foreach(aStarPoint a in mc.mapStarMap){
* a.reset ();
* }
* Path = SimplifyPath (Path);
* Path.Reverse();
* if(!Path.Contains(Destination.Location)){
* Path.Add (Destination.Location);
* }
*
* //sw.Stop ();
* //UnityEngine.Debug.Log (sw.ElapsedMilliseconds+"ms");
* //sw.Reset ();
* Pathfound = Path;
* }
*/
if (currentNode == Destination)
{
List <Vector3> Path = new List <Vector3> ();
aStarPoint Node = Destination;
while (Node != Location)
{
Path.Add(Node.Location);
Node = Node.parent;
}
foreach (aStarPoint a in mc.mapStarMap)
{
a.reset();
}
Path = CleanRoute(Path);
Path.Reverse();
if (!Path.Contains(Destination.Location))
{
Path.Add(Destination.Location);
}
Path.Insert(0, Location.Location);
//SimplifyPath (Path);
//sw.Stop ();
//UnityEngine.Debug.Log (sw.ElapsedMilliseconds+"ms");
//sw.Reset ();
Pathfound = Path;
}
List <aStarPoint> neighbours = findValidNeighbours(currentNode);
foreach (aStarPoint node in neighbours)
{
if (closedList.Contains(node))
{
continue;
}
int g = Mathf.RoundToInt(Vector2.Distance(node.gridPosition(), currentNode.gridPosition()) * 10);
int h = GetDistance(node, Destination);
int f = g + h;
if (f < node.f || !openList.Contains(node))
{
node.f = f;
node.h = h;
node.g = g;
node.parent = currentNode;
if (!openList.Contains(node))
{
//CalculatePosition (node,openList);
openList.Add(node);
openList.UpdateItem(node);
}
}
}
}
}