public List <Spot> FindPath(Spot startSpot, Spot endSpot)
{
List <Spot> openSet = new List <Spot>();
HashSet <Spot> closedSet = new HashSet <Spot>();
openSet.Add(startSpot);
while (openSet.Count > 0)
{
Spot currentSpot = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].GetFCost() < currentSpot.GetFCost() || (openSet[i].GetFCost() == currentSpot.GetFCost() && openSet[i].hCost < currentSpot.hCost))
{
currentSpot = openSet[i];
}
}
openSet.Remove(currentSpot);
closedSet.Add(currentSpot);
if (currentSpot == endSpot)
{
return(RetracePath(startSpot, endSpot));
}
foreach (Spot neighborSpot in currentSpot.GetNeighbors())
{
if (closedSet.Contains(neighborSpot))
{
continue;
}
float newMovementCostToNeighbor = currentSpot.gCost + Spots.GetDistance(currentSpot, neighborSpot);
if (newMovementCostToNeighbor < neighborSpot.gCost || !openSet.Contains(neighborSpot))
{
neighborSpot.gCost = newMovementCostToNeighbor;
neighborSpot.hCost = Spots.GetDistance(neighborSpot, endSpot);
neighborSpot.parentSpot = currentSpot;
if (!openSet.Contains(neighborSpot))
{
openSet.Add(neighborSpot);
}
}
}
}
return(null);
}