private void moveToClosedList(Hex hex)
{
openList.Remove(hex);
addToClosedList(hex);
}
public bool findPath(Hex start, Hex end)
{
// If start and end are the same there is no path!
if (start == end)
{
return(false);
}
// Make sure we have valid hexes
if (start == null || end == null)
{
return(false);
}
// Clear the board and all paths
reset();
// Add starting hex to the open list
addToOpenList(start);
// Try to find the path until the target hex (end) is found
while (closedList.Contains(end) != true)
{
bool setFirst = true;
int lowestF = 0;
Hex lowestHex = null;
// Find the lowest F in openlist
foreach (Hex selectHex in openList)
{
if (setFirst)
{
lowestF = selectHex.Path.F;
setFirst = false;
}
if (selectHex.Path.F <= lowestF)
{
lowestF = selectHex.Path.F;
lowestHex = selectHex;
}
}
if (setFirst)
{
// Open list is empty
// No possible route can be found
return(false);
}
// Now add the lowest F to the closed list and remove it from the open list
moveToClosedList(lowestHex);
// Add the neighbor hexes to the open list
List <Hex> neighbors = board.getNeighboringCells(lowestHex, 1);
foreach (Hex nodeHex in neighbors)
{
if (!isAccessible(nodeHex, start))
{
addToClosedList(nodeHex);
}
else
{
if (!closedList.Contains(nodeHex))
{
// Not in the closed list, so check if its in the open list meaning we already
// have processed it's path parameters
if (openList.Contains(nodeHex))
{
// This node is already in our open list. Check to see if this is a better move
if (nodeHex.Path.G < lowestHex.Path.G)
{
lowestHex.Path.Parent = nodeHex;
lowestHex.Path.G = nodeHex.Path.G + 10;
lowestHex.Path.F = lowestHex.Path.G + lowestHex.Path.H;
}
}
else
{
// Not in closed list or open list, so add to open list.
addToOpenList(nodeHex);
// Set parent
nodeHex.Path.Parent = lowestHex;
// Update H, G, F
int H = board.getHexDistance(nodeHex, end) * 10;
int G = lowestHex.Path.G + 10;
int F = H + G;
nodeHex.Path.update(H, G, F);
}
}
}
}
}
// Get Path
Hex hex = end;
do
{
path.Add(hex);
hex = hex.Path.Parent;
}while (hex != null);
path.Reverse();
return(path.Count() > 0);
}