private static List <Vector2Int> CalcPath(Point source, Point target)
{
var openList = new PointList();
var closeList = new PointList();
source.g = 0;
source.h = Distance(source, target);
source.f = source.g + source.h;
source.parent = new Point(-1, -1);
openList.AddElement(source);
Point step;
while (openList.Count > 0)
{
step = openList.GetElementWithMinF();
List <Point> neighbors = GetNeighbors(step.x, step.y);
openList.RemoveElement(step);
closeList.AddElement(step);
for (int i = 0; i < neighbors.Count; i++)
{
Point cell = neighbors[i];
if (!map.IsWalkable(cell.x, cell.y))
{
continue;
}
if (closeList.HasElement(cell))
{
continue;
}
float weight = map[cell.x, cell.y];
if (openList.HasElement(cell))
{
Point st = openList.GetElement(cell);
if (st.g > step.g + MIN_G + weight)
{
st.g = step.g + MIN_G + weight;
st.h = Distance(st, target);
st.f = st.g + st.h;
st.parent = step;
openList.UpdateElement(st);
}
}
else
{
cell.g = step.g + MIN_G + weight;
cell.h = Distance(cell, target);
cell.f = cell.g + cell.h;
cell.parent = step;
openList.AddElement(cell);
}
}
if (target.x == step.x && target.y == step.y)
{
break;
}
}
List <Vector2Int> lst = new List <Vector2Int>();
if (openList.Count == 0)
{
return(lst);
}
step = closeList.GetElement(target);
lst.Add(step.GetNewVector());
while (step.parent != null)
{
step = step.parent;
lst.Insert(0, step.GetNewVector());
}
lst.RemoveAt(0);
return(lst);
}