public StarNode(Square sqr, StarNode parent, int cost, int direction)
{
this.mySqr = sqr;
this.parentSqr = parent;
this.cost = cost;
this.direction = direction;
}
//calculate the least cost path between two given squares
public List<StarNode> calculatePath(Square source, Square destination, int direction)
{
List<StarNode> openList = new List<StarNode>();
List<StarNode> closedList = new List<StarNode>();
List<Square> closedSqrs = new List<Square>();
openList.Add(new StarNode(source, null, 0, direction));
bool finished = false;
int k = 0;
while(!finished)
{
k++;
int fullCost = int.MaxValue;
//get the node with the least cost
foreach(StarNode node in openList)
{
if (current.mySqr == null)
{
current = node;
fullCost = current.cost + getHeuristic(current.mySqr, destination);
}
else if ((getHeuristic(node.mySqr, destination) + node.cost) < fullCost)
{
current = node;
fullCost = current.cost + getHeuristic(current.mySqr, destination);
}
}
int currentDirection = current.direction;
int xCord = (int)current.mySqr.getCoord().X;
int yCord = (int)current.mySqr.getCoord().Y;
int cost = 0;
int iMin = (xCord > 0) ? -1 : 0;
int iMax = (xCord < (mapSize - 1)) ? 1 : 0;
int jMin = (yCord > 0) ? -1 : 0;
int jMax = (yCord < (mapSize - 1)) ? 1 : 0;
for (int i = iMin; i <= iMax; i++)
{
for (int j = jMin; j <= jMax; j++)
{
if ((i != 0) && (j != 0)) //if a diagonal square
{
continue;
}
if ((i == 0) && (j == 0)) //if the center square
{
continue;
}
bool isDir = false;
if ((j == -1) && (currentDirection == 0))
{
isDir = true;
}
else if ((j == 1) && (currentDirection == 2))
{
isDir = true;
}
else if ((i == -1) && (currentDirection == 3))
{
isDir = true;
}
else if ((i == 1) && (currentDirection == 1))
{
isDir = true;
}
int index = (xCord+i) + ((yCord+j) * mapSize);
Square currentSqr = squares[index];
cost = this.getCost(xCord + i, yCord + j, isDir);
int tempDirection = currentDirection;
if (j == -1)
{
tempDirection = 0;
}
else if (j == 1)
{
tempDirection = 2;
}
else if (i == -1)
{
tempDirection = 4;
}
else if (i == 1)
{
tempDirection = 1;
}
if ((cost >= 0) && (!closedSqrs.Contains(currentSqr)))
{
openList.Add(new StarNode(currentSqr, current, (cost + current.cost), tempDirection));
}
}
}
openList.Remove(current);
closedList.Add(current);
closedSqrs.Add(current.mySqr);
if((current.mySqr == destination)||(openList.Count == 0))
{
finished = true;
}
current = new StarNode(null, null, 0, 0);
}
return this.filterClosedL(closedList);
//return closedList;
}
public List<StarNode> filterClosedL(List<StarNode> close)
{
List<StarNode> result = new List<StarNode>();
StarNode current = close[close.Count - 1];
while (current.parentSqr != null)
{
result.Add(current);
current = current.parentSqr;
}
result.Add(current);
result.Reverse();
return result;
}
