public void OpenSquare(int y, int x, int[] parent, int moveCost, double heuristic, bool newSquare)
{
if (!newSquare)
{
foreach (OpenSquare op in OpenList)
{
if (op.Y == y && op.X == x)
{
newSquare = true;
break;
}
}
}
if (!newSquare)
{
OpenList.Add(new OpenSquare(y, x));
MapStatus.RemoveAll((c) => c.X == x && c.Y == y);
MapStatus.Add(new CellInfo(heuristic, null, true, false, x, y));
}
CellInfo cell = GetCellInfo(y, x);
cell.Parent = parent;
cell.MovementCost = moveCost;
}
public void StartPathfinding(MapPoint startP, MapPoint endP)
{
Start = startP;
End = endP;
StartX = startP.X;
StartY = startP.Y;
EndX = endP.X;
EndY = endP.Y;
StartPoint = new MapPoint(startP.X, startP.Y);
EndPoint = new MapPoint(endP.X, endP.Y);
AuxEndPoint = StartPoint;
AuxEndX = StartPoint.X;
AuxEndY = StartPoint.Y;
DistanceToEnd = StartPoint.DistanceToCell(EndPoint);
for (int y = -19; y <= MaxY; y++)
{
for (int x = 0; x <= MaxX; x++)
{
MapStatus.Add(new CellInfo(0, null, false, false, x, y));
}
}
OpenList = new List <OpenSquare>();
OpenSquare(StartY, StartX, null, 0, 0, false);
}