public AStarNode(MapNode node, int counter) : base(node.x, node.y)
{
this.Counter = counter;
}
// Pathfinding Algorithm
public List <MapNode> pathFinding(MapNode screenSpaceStart, MapNode screenSpacEnd, int maxCounter = 20)
{
List <MapNode> retval = new List <MapNode>();
List <AStarNode> main = new List <AStarNode>();
AStarNode lastNode = null;
int counter = 0;
AStarNode startNode = new AStarNode(screenSpaceStart, counter);
main.Add(startNode);
bool found = false;
int lowest = Int32.MaxValue;
MapNode foundNode = null;
for (int i = 0; i < main.Count; i++)
{
AStarNode node = main[i];
if (screenSpacEnd.x == node.x && screenSpacEnd.y == node.y)
{
if (lowest > node.Counter)
{
foundNode = node;
}
}
}
found = foundNode != null;
while (!found)
{
counter++;
if (counter > maxCounter)
{
found = true;
}
else
{
int cnt = main.Count;
for (int i = 0; i < cnt; i++)
{
List <MapNode> opennodes = this.getOpenNodesAround(main[i]);
foreach (MapNode node in opennodes)
{
bool isfound = false;
for (int a = 0; a < main.Count; a++)
{
if (main[a].x == node.x && main[a].y == node.y && main[a].Counter <= counter)
{
isfound = true;
}
}
if (!isfound)
{
main.Add(new AStarNode(node, counter));
}
}
}
found = false;
for (int i = 0; i < main.Count; i++)
{
AStarNode node = main[i];
if (screenSpacEnd.x == node.x && screenSpacEnd.y == node.y)
{
found = true;
retval.Add(node);
lastNode = node;
}
}
}
}
if (counter <= maxCounter)
{
while (counter > 1)
{
counter--;
foreach (AStarNode node in main)
{
int difx = Math.Abs(node.x - lastNode.x);
int dify = Math.Abs(node.y - lastNode.y);
if (node.Counter == counter && (difx <= 1) && (dify <= 1) && lastNode.Counter != counter)
{
retval.Insert(0, node);
lastNode = node;
}
}
}
}
return(retval);
}