private List <Node> GetNearest(Node node)
{
List <Node> nearest = new List <Node>();
int x = (int)node.GetPosition().x;
int y = (int)node.GetPosition().y;
float Sqrt2 = Mathf.Sqrt(2);
if (x > 0 && Grid[x - 1, y] == 0)
{
Node Left = new Node(new Vector2(x - 1, y), node);
Left.SetG(1);
Left.SetF(GetEuristic(Left, EndPos));
nearest.Add(Left);
if (y > 0 && Grid[x - 1, y - 1] == 0)
{
Node DownLeft = new Node(new Vector2(x - 1, y - 1), node);
DownLeft.SetG(Sqrt2);
DownLeft.SetF(GetEuristic(DownLeft, EndPos));
nearest.Add(DownLeft);
}
if (y < SizeY - 1 && Grid[x - 1, y + 1] == 0)
{
Node UpLeft = new Node(new Vector2(x - 1, y + 1), node);
UpLeft.SetG(Sqrt2);
UpLeft.SetF(GetEuristic(UpLeft, EndPos));
nearest.Add(UpLeft);
}
}
if (x < SizeX - 1 && Grid[x + 1, y] == 0)
{
Node Right = new Node(new Vector2(x + 1, y), node);
Right.SetG(1);
Right.SetF(GetEuristic(Right, EndPos));
nearest.Add(Right);
if (y > 0 && Grid[x + 1, y - 1] == 0)
{
Node DownRight = new Node(new Vector2(x + 1, y - 1), node);
DownRight.SetG(Sqrt2);
DownRight.SetF(GetEuristic(DownRight, EndPos));
nearest.Add(DownRight);
}
if (y < SizeY - 1 && Grid[x + 1, y + 1] == 0)
{
Node UpRight = new Node(new Vector2(x + 1, y + 1), node);
UpRight.SetG(Sqrt2);
UpRight.SetF(GetEuristic(UpRight, EndPos));
nearest.Add(UpRight);
}
}
if (y > 0 && Grid[x, y - 1] == 0)
{
Node Down = new Node(new Vector2(x, y - 1), node);
Down.SetG(1);
Down.SetF(GetEuristic(Down, EndPos));
nearest.Add(Down);
}
if (y < SizeY - 1 && Grid[x, y + 1] == 0)
{
Node Up = new Node(new Vector2(x, y + 1), node);
Up.SetG(1);
Up.SetF(GetEuristic(Up, EndPos));
nearest.Add(Up);
}
return(nearest);
}
public List <Node> FindPath(Vector2 StartPos, Vector2 EndPos, float minPosDistance = 0f)
{
Opened.Clear();
Closed.Clear();
this.EndPos = EndPos;
Node StartNode = new Node(StartPos, null);
StartNode.SetG(0);
StartNode.SetF(GetEuristic(StartNode, EndPos));
Opened.Add(StartNode);
int Count = 0;
while (Opened.Count != 0)
{
++Count;
int smallestIndex = Smallest(Opened);
Node current = Opened[smallestIndex];
//Debug.Log(String.Format("Node: {0}, G: {1}, F: {2}", current.GetPosition(), current.GetG(), current.GetF()));
Opened.RemoveAt(smallestIndex);
if (current.GetPosition() == EndPos)
{
//WE FOUND PATH
List <Node> path = new List <Node>();
while (current != null)
{
path.Add(current);
current = current.Parent;
}
path.Reverse();
//Debug.Log("All done");
//Debug.Log(Count);
return(SimplifyPath(path));
}
List <Node> newNodes = GetNearest(current);
foreach (var node in newNodes)
{
if (Closed.Exists(x => x.GetPosition() == node.GetPosition()))
{
continue;
}
//Debug.Log(String.Format("Add: {0}, G: {1}, F: {2}", node.GetPosition(), node.GetG(), node.GetF()));
Node same = Opened.Find(x => x.GetPosition() == node.GetPosition());
if (same == null)
{
Opened.Add(node);
}
else
{
if (same.GetF() > node.GetF())
{
Opened.Remove(same);
Opened.Add(node);
}
}
}
Closed.Add(current);
}
//Debug.Log(Count);
return(new List <Node>());
}