public static List <int> Exec(int start, int goal, int[] map, int width, int height)
{
try
{
if (map[start] == 0 || map[goal] == 0)
{
return new List <int>()
{
start
}
}
;
}
catch (Exception)
{
return(new List <int>()
{
start
});
}
Dictionary <int, int> path = new Dictionary <int, int>();
Dictionary <int, SearchNode> openedNode = new Dictionary <int, SearchNode>();
Dictionary <int, int> score = new Dictionary <int, int>();
SearchNode startNode = new SearchNode(0, start);
openedNode.Add(start, startNode);
while (openedNode.Keys.Count > 0)
{
SearchNode current = null;
foreach (KeyValuePair <int, SearchNode> entry in openedNode)
{
SearchNode node = entry.Value;
if (current == null || (node.score < current.score && !node.IsImpassible()))
{
current = node;
}
}
if (current.address == goal)
{
// TODO: overhead
return(Astar.MakeRoute(path, start, goal));
}
openedNode.Remove(current.address);
if (current.IsImpassible())
{
continue;
}
List <int> neighbors = Astar.Neighbors(current.address, map, width, height);
for (int i = 0; i < neighbors.Count; i++)
{
int neighborAddress = neighbors[i];
if (!score.ContainsKey(neighborAddress))
{
// TODO: heuristic
if (map[neighborAddress] == Astar.Impassible)
{
score[neighborAddress] = SearchNode.ImpassibleScore;
}
else
{
score[neighborAddress] = current.score + 1;
path[neighborAddress] = current.address;
}
SearchNode neighborNode = new SearchNode(score[neighborAddress], neighborAddress);
openedNode.Add(neighborAddress, neighborNode);
}
}
}
return(new List <int>());
}
