// Use this for initialization
void Awake()
{
mapGrid = MapGrid_A.Instance;
algo = A_Algorithm.Instance;
}
/*******************************************************************/
public List <Vector2Int> CalcPath(Vector2Int start, Vector2Int target)
{
// Init Grid Variables
gridArr = MapGrid_A.Grid2Array();
gridSizeX = MapGrid_A.GridSizeX;
gridSizeY = MapGrid_A.gridSizeY;
//Clearing for new check
if (open != null)
{
open.Clear();
}
if (closed != null)
{
closed.Clear();
}
//Init Closed List
NodeContainer temp = new NodeContainer(start, null, start, start);
open.Add(temp);
while (open.Count > 0)
{
open.Sort();
closed.Add(open[0]);
open.RemoveAt(0);
int x = closed[closed.Count - 1].currNode.x;
int y = closed[closed.Count - 1].currNode.y;
for (int i = -1; i <= 1; i++)
{
if (x + i >= 0 && x + i < gridSizeX)
{
for (int j = -1; j <= 1; j++)
{
if (y + j >= 0 && y + j < gridSizeY)
{
Vector2Int checkNode = new Vector2Int(x + i, y + j);
temp = new NodeContainer(checkNode, closed[closed.Count - 1], start, target);
if ((x + i != target.x || y + j != target.y) && gridArr[x + i, y + j])
{
if (!closed.Exists(e => e.currNode == temp.currNode))
{
int index = open.FindIndex(e => e.currNode == temp.currNode);
if (index < 0)
{
open.Add(temp);
}
else if (open[index].FCost > temp.FCost)
{
open[index] = temp;
}
}
}
else if (x + i == target.x && y + j == target.y)
{
MakePathList(temp);
return(output);
}
}
}
}
}
}
return(null);
}
