public void InitNeighbours()
{
for (int i = 0; i < 8; i++)
{
Neighbours[i] = new Node(GetNeighbourPosition((NeighbourPositions)i), null, Target);
}
}
public static Vector2 GetNextField(Vector2 start, Vector2 target, Map map)
{
Node StartNode = new Node(start, null, target);
StartNode.G = 0;
Openlist.Add(StartNode);
Node NextNode = StartNode;
while (Openlist.Count > 0)
{
//Get Node with smallest heuristic Value
Node closestNode = StartNode;
foreach (Node NodesToCheck in Openlist)
{
if (NodesToCheck.F < closestNode.F)
closestNode = NodesToCheck;
}
//Check if target has been reached
if (closestNode.NodePosition == target)
break;
//Transfer Node to ClosedList
Openlist.Remove(closestNode);
ClosedList.Add(closestNode);
//CheckNeighbours
closestNode.InitNeighbours();
foreach (Node OpenListCandidate in closestNode.Neighbours)
{
bool iswalkable = map.Field[OpenListCandidate.NodePosition.X, OpenListCandidate.NodePosition.Y] == ' ';
if (iswalkable && !ClosedList.Contains(OpenListCandidate))
{
if (!Openlist.Contains(OpenListCandidate))
{
Openlist.Add(OpenListCandidate);
OpenListCandidate.PreviousNode = closestNode;
OpenListCandidate.G = closestNode.G + 1;
}
else
{
if (closestNode.G + 1 < OpenListCandidate.G)
{
OpenListCandidate.PreviousNode = closestNode;
OpenListCandidate.G = closestNode.G + 1;
}
}
}
}
}
//Follow Path
while (NextNode.PreviousNode != null)
{
NextNode = NextNode.PreviousNode;
}
//ClearLists
Openlist.Clear();
ClosedList.Clear();
//return NextField
Vector2 NextField = NextNode.NodePosition;
return NextField;
}
public Node(Vector2 Position, Node Previous, Vector2 TargetPosition)
{
NodePosition = Position;
PreviousNode = Previous;
Target = TargetPosition;
H = Math.Abs((Position.X - TargetPosition.X) + (Position.Y - TargetPosition.Y));
}
