private static bool CalcPathFromCell(AStarCell cellParent, Cell cellEnd, List<AStarCell> listCellClose, List<AStarCell> listCellOpen, bool useCost, float costMax)
{
foreach (Cell cell in cellParent.Cell.Neighbourghs.Values)
{
//---> La cellule n'est pas dans la liste fermée
if (cell != null && !listCellClose.Exists(c => c.Cell == cell))
{
AStarCell aStarCellPrev = listCellOpen.Find(c => c.Cell == cell);
AStarCell aStarCell = new AStarCell();
aStarCell.Cell = cell;
aStarCell.ParentCell = cellParent.Cell;
aStarCell.G = cellParent.G + Tools.Distance(cell.Location, cellParent.Cell.Location);
aStarCell.H = Tools.Distance(cell.Location, cellEnd.Location);
aStarCell.F = aStarCell.G + aStarCell.H;
if (useCost && cell.Height < costMax)
{
aStarCell.F = aStarCell.F * cell.Height;
}
if (aStarCellPrev != null && aStarCell.G < aStarCellPrev.G)
{
aStarCellPrev.ParentCell = cellParent.Cell;
aStarCellPrev.G = aStarCell.G;
aStarCellPrev.H = aStarCell.H;
aStarCellPrev.F = aStarCell.F;
}
else if (aStarCellPrev == null)
{
listCellOpen.Add(aStarCell);
}
}
}
AStarCell aStarChoosenCell = null;
foreach (AStarCell aStarCell in listCellOpen)
{
if (aStarChoosenCell == null)
aStarChoosenCell = aStarCell;
if (aStarCell.F < aStarChoosenCell.F)
aStarChoosenCell = aStarCell;
}
//---
listCellOpen.Remove(aStarChoosenCell);
listCellClose.Add(aStarChoosenCell);
//---
//---
if (aStarChoosenCell == null)
return false;
else if (aStarChoosenCell.Cell == cellEnd)
return true;
else
return CalcPathFromCell(aStarChoosenCell, cellEnd, listCellClose, listCellOpen, useCost, costMax);
//---
}
public static List<int> CalcPath(Cell cellStart, Cell cellEnd, bool useCost, float costMax)
{
List<int> listCellPath = new List<int>();
List<AStarCell> listCellClose = new List<AStarCell>();
List<AStarCell> listCellOpen = new List<AStarCell>();
//--- Ajout de la case de départ
AStarCell aStarCell = new AStarCell();
aStarCell.Cell = cellStart;
//---
//---
listCellClose.Add(aStarCell);
bool pathFound = CalcPathFromCell(aStarCell, cellEnd, listCellClose, listCellOpen, useCost, costMax);
if (!pathFound)
return listCellPath;
//---
//--- Reconstitue le chemin
bool pathCompleted = false;
Cell cell = cellEnd;
while (!pathCompleted)
{
if (listCellClose.Count == 0)
pathCompleted = true;
foreach (AStarCell aStarCellChild in listCellClose)
{
if (aStarCellChild.Cell == cell)
{
listCellPath.Add(aStarCellChild.Cell.IndexPosition);
cell = aStarCellChild.ParentCell;
if (aStarCellChild.Cell == cellStart)
{
pathCompleted = true;
}
}
}
}
//---
listCellPath.Reverse();
return listCellPath;
}