public static float euclidianHeuristic(PathNode node, PathNode destinationNode, float cost = 1.0f)
{
float dx = node.x - destinationNode.x;
float dy = node.y - destinationNode.y;
return (float)Math.Sqrt(dx * dx + dy * dy) * cost;
}
public static List<PathNode> buildPath(PathNode destinationNode, PathNode startNode)
{
List<PathNode> path = new List<PathNode>();
PathNode node = destinationNode;
path.Add(node);
while (node != startNode)
{
node = node.parentNode;
path.Remove(node);
}
return path;
}
public static List<PathNode> findPath(PathNode firstNode, PathNode destinationNode)
{
List<PathNode> openNodes = new List<PathNode>();
List<PathNode> closedNodes = new List<PathNode>();
PathNode currentNode = firstNode;
PathNode testNode;
int l = 0;
int i = 0;
float g;
float h;
float f;
List<PathNode> connectedNodes;
float travelCost = 1.0f;
currentNode.g = 0;
currentNode.h = euclidianHeuristic(currentNode, destinationNode, travelCost);
currentNode.f = currentNode.g + currentNode.h;
while (currentNode != destinationNode)
{
Console.WriteLine("Working");
connectedNodes = currentNode.getConnections();
l = connectedNodes.Count;
for (int x = 0; x < l; x++)
{
testNode = connectedNodes[x];
if (testNode == currentNode || testNode.traversable == false) continue;
g = currentNode.g + travelCost;
h = euclidianHeuristic(testNode, destinationNode, travelCost);
f = g + h;
if (isOpen(testNode, openNodes) || isClosed(testNode, closedNodes))
{
if (testNode.f > f)
{
testNode.f = f;
testNode.g = g;
testNode.h = h;
testNode.parentNode = currentNode;
}
}
else
{
testNode.f = f;
testNode.g = g;
testNode.h = h;
testNode.parentNode = currentNode;
openNodes.Add(testNode);
}
}
closedNodes.Add(currentNode);
if (openNodes.Count == 0)
{
return null;
}
openNodes.OrderBy(on => on.f);
currentNode = openNodes[0];
}
return buildPath(destinationNode, firstNode);
}
public static bool isOpen(PathNode node, List<PathNode> openNodes)
{
int l = openNodes.Count;;
for (int i = 0; i < l; ++i)
{
if ( openNodes[i] == node ) return true;
}
return false;
}
public static bool isClosed(PathNode node, List<PathNode> closedNodes)
{
int l = closedNodes.Count;
for (int i = 0; i < l; ++i)
{
if (closedNodes[i] == node ) return true;
}
return false;
}
