/// <summary>
/// Calculate A* path between two Cells
/// </summary>
/// <param name="startLocation"></param>
/// <param name="destination"></param>
/// <returns>A* Path</returns>
public List <PathNode> CalculatePath(Cell startLocation, Cell destination, bool fourNeighbours = false)
{
// Reset Game World's pathfinding scores to default
for (int i = 0; i < _game.X; i++)
{
for (int j = 0; j < _game.Y; j++)
{
_board[i, j] = new PathNode(_game.GetCell(i, j));
_board[i, j].GScore = int.MaxValue;
_board[i, j].CameFrom = null;
}
}
// Get starting Cell, add to open list and begin AStar search
PathNode startNode = _board[startLocation.X, startLocation.Y];
PathNode destNode = _board[destination.X, destination.Y];
startNode.GScore = 0;
startNode.HScore = CalulateMoveCost(startNode, destNode);
openListP = new List <PathNode> {
startNode
};
closedListP = new List <PathNode>();
while (openListP.Count > 0)
{
PathNode currentNode = GetLowestFCost(openListP);
if (currentNode == destNode)
{
// path found!
return(TracePath(destNode));
}
openListP.Remove(currentNode);
closedListP.Add(currentNode);
List <PathNode> neighbours = FindNeighbours(currentNode, fourNeighbours);
foreach (PathNode neighbour in neighbours)
{
if (closedListP.Contains(neighbour))
{
continue;
}
int tenGScore = currentNode.GScore + CalulateMoveCost(currentNode, neighbour);
if (tenGScore < neighbour.GScore)
{
neighbour.CameFrom = currentNode;
neighbour.GScore = tenGScore;
neighbour.HScore = CalulateMoveCost(neighbour, destNode);
if (!openListP.Contains(neighbour))
{
openListP.Add(neighbour);
}
}
}
}
return(null);
}
/// <summary>
/// Calculate A* path between two Cells
/// </summary>
/// <param name="startLocation"></param>
/// <param name="destination"></param>
/// <returns>A* Path</returns>
public List <Cell> CalculatePath(Cell startLocation, Cell destination)
{
// Reset Game World's pathfinding scores to default
for (int i = 0; i < _game.X; i++)
{
for (int j = 0; j < _game.Y; j++)
{
Cell cell = _game.GetCell(i, j);
cell.GScore = int.MaxValue;
cell.CameFrom = null;
}
}
// Get starting Cell, add to open list and begin AStar search
Cell startCell = _game.GetCell(startLocation);
Cell destCell = _game.GetCell(destination);
startCell.GScore = 0;
startCell.HScore = CalulateMoveCost(startCell, destCell);
openList = new List <Cell> {
startCell
};
closedList = new List <Cell>();
while (openList.Count > 0)
{
Cell currentCell = GetLowestFCost(openList);
if (currentCell == destCell)
{
// path found!
return(TracePath(destCell));
}
openList.Remove(currentCell);
closedList.Add(currentCell);
List <Cell> neighbours = FindNeighbours(currentCell);
foreach (Cell neighbour in neighbours)
{
if (closedList.Contains(neighbour))
{
continue;
}
int tenGScore = currentCell.GScore + CalulateMoveCost(currentCell, neighbour);
if (tenGScore < neighbour.GScore)
{
neighbour.CameFrom = currentCell;
neighbour.GScore = tenGScore;
neighbour.HScore = CalulateMoveCost(neighbour, destCell);
if (!openList.Contains(neighbour))
{
openList.Add(neighbour);
}
}
}
}
return(null);
}
