private Tile iterateAStar(Tile start, Tile goal)
{
if(DEBUG)
Console.WriteLine("Called iterateAStar!, goal is at (" + goal.getMapX() + "," + goal.getMapY() + ")");
Tile ret = null;
List<Tile> bestpath = new List<Tile>();
List<Tile> closed = new List<Tile>();
start.addToTotalCost(Math.Abs(start.getMapX() - goal.getMapX()) + Math.Abs(start.getMapY() - goal.getMapY()));
List<Tile> open = new List<Tile>();
open.Add(start);
while (open.Count > 0)
{
//get the lowest cost node...
Tile cur = open.Min();
if(DEBUG)
Console.WriteLine("Min retrieved node (" + cur.getMapX() + "," + cur.getMapY() + ") with " + cur.getTotalCost() + " from the open list");
if (cur.getMapX() == goal.getMapX() && cur.getMapY() == goal.getMapY())
{
if(DEBUG)
Console.WriteLine("Found goal! cur is (" + cur.getMapX() + "," + cur.getMapY() + ")");
return cur;
//return addToBestPath(bestpath, cur, last);
}
else
{
int curx = cur.getMapX();
int cury = cur.getMapY();
open.Remove(cur);
closed.Add(cur);
Tile up = map.getTileAt(curx, cury - 1);
Tile down = map.getTileAt(curx, cury + 1);
Tile left = map.getTileAt(curx - 1, cury);
Tile right = map.getTileAt(curx + 1, cury);
if (canAdd(up, open, closed))
addTile(up, cur, open, goal);
if (canAdd(down, open, closed))
addTile(down, cur, open, goal);
if (canAdd(left, open, closed))
addTile(left, cur, open, goal);
if (canAdd(right, open, closed))
addTile(right, cur, open, goal);
}
}
if(DEBUG)
Console.WriteLine("Failed to find a path!");
return ret;
}
private void addTile(Tile toadd, Tile prev, List<Tile> open, Tile goal)
{
if (DEBUG)
{
Console.WriteLine("Adding node (" + toadd.getMapX() + "," + toadd.getMapY() + "), with cost " + toadd.getTotalCost() + " to open list, open count is = " + open.Count);
if (prev != null)
Console.WriteLine("Previous is (" + prev.getMapX() + "," + prev.getMapY() + ")");
else
Console.WriteLine("Previous is null!");
}
toadd.setPrevious(prev);
int distance = getCumulativeCost(toadd);
//int distance = 0;
toadd.addToTotalCost(distance + Math.Abs(toadd.getMapX() - goal.getMapX()) + Math.Abs(toadd.getMapY() - goal.getMapY()));
open.Add(toadd);
if (DEBUG)
Console.WriteLine("Node added.");
}