public PathNode(double gCost, double hCost, int node, PathNode parent)
{
Parent = parent;
this.node = node;
this.gCost = gCost;
this.hCost = hCost;
}
private float Distance(PathNode p1, int p2)
{
return Nodes[p1.node].position.Distance(Nodes[p2].position);
}
private float Distance(PathNode p1, int p2)
{
return(Nodes[p1.node].position.Distance(Nodes[p2].position));
}
private PathNode FindPath(int startNode, int endNode)
{
if (startNode == -1 || endNode == -1) return null;
List<PathNode> open=new List<PathNode>();
List<PathNode> closed = new List<PathNode>();
open.Add(new PathNode(0, Nodes[startNode].GetDistance(endNode), startNode, null));
while (open.Count > 0)
{
PathNode q = open.OrderBy(n => n.fCost).First();
open.Remove(q);
foreach (int neighbor in Nodes[q.node].Neighbors)
{
if (!Nodes[neighbor].passable)
continue;
PathNode s=new PathNode(q.gCost+
Distance(q, neighbor) * (Nodes[neighbor].position.GetNearestTurret().Distance(Nodes[neighbor].position)<900?20:1)
,Distance(endNode, neighbor), neighbor, q );
if (neighbor == endNode)
{
return s;
}
PathNode sameNodeOpen = open.FirstOrDefault(el => el.node == neighbor);
if (sameNodeOpen != null)
{
if(sameNodeOpen.fCost<s.fCost) continue;
}
PathNode sameNodeClosed = closed.FirstOrDefault(el => el.node == neighbor);
if (sameNodeClosed != null)
{
if(sameNodeClosed.fCost<s.fCost) continue;
}
open.Add(s);
}
closed.Add(q);
}
return null;
}