public static LinkedList <Hex> Pathfind(WorldMap w, Hex start, Hex goal)
{
if (!goal.b.Passable())
{
return(null);
}
try {
List <Hex> openHexes = new List <Hex>();
start.pathfind = new PathfindingInfo();
start.pathfind.gScore = 0;
start.pathfind.fScore = fHeuristic(start, goal);
openHexes.Add(start);
while (openHexes.Count() > 0)
{
Hex cur = removeLowestFScore(openHexes);
cur.pathfind.evaluated = true;
if (cur == goal)
{
return(reconstructPath(goal));
}
foreach (Hex n in cur.Neighbors())
{
var tentativeGscore = cur.pathfind.gScore + 1; // All neighbors are 1 apart.
if (n.pathfind == null)
{
n.pathfind = new PathfindingInfo();
}
if (n.b.Passable() && tentativeGscore < n.pathfind.gScore)
{
openHexes.Add(n);
//UnityEngine.Debug.Log(n.b.Passable() + " " + n.pathfind.ToString() + " " + tentativeGscore.ToString());
n.pathfind.cameFrom = cur;
n.pathfind.gScore = tentativeGscore;
n.pathfind.fScore = n.pathfind.gScore + fHeuristic(n, goal);
}
}
}
return(null);
} finally {
foreach (KeyValuePair <HexLoc, Hex> kv in w.map)
{
kv.Value.pathfind = null;
}
}
}
private void setEv(Hex h, float value)
{
h.ev = value;
float val = value - h.b.Dropoff();
foreach (Hex h2 in h.Neighbors())
{
if (val > h2.ev)
{
setEv(h2, val);
}
}
}