public List<PathBlock> AStarPath(MapBlock from, MapBlock to, bool willBreakThroughStuff)
{
if (!to.Passable)
{
//int closestH = 1000;
foreach (MapBlock mb in to.SurroundingBlocks)
{
PathBlock p = new PathBlock(mb, null);
p.CalculateH(from);
}
}
List<PathBlock> pathToTake = new List<PathBlock>(); //final result
List<PathBlock> openList = new List<PathBlock>(); //possible paths to check
List<PathBlock> closedList = new List<PathBlock>(); //all spaces that have been checked
PathBlock first = new PathBlock(from, null);
first.G = 0;
first.CalculateH(to);
openList.Add(new PathBlock(from, null));
if (from.Equals(to))
{
return pathToTake;
}
while (openList.Count > 0)
{
PathBlock blockToCheck = openList[0];
if (blockToCheck.AttachedBlock.Equals(to))
{
//path found, work backwards from blockToCheck's parent.
//
PathBlock backtracker = blockToCheck;
while (backtracker.Parent != null)
{
pathToTake.Insert(0, backtracker);
backtracker = backtracker.Parent;
}
return pathToTake;
}
openList.Remove(blockToCheck);
closedList.Add(blockToCheck);
foreach (MapBlock mb in blockToCheck.AttachedBlock.SurroundingBlocks)
{
PathBlock p = new PathBlock(mb, blockToCheck);
p.G = blockToCheck.G + 1;
p.CalculateH(to);
//ignore blocks in the closed list and those that aren't passable unless smashy smashy
//
if (!closedList.Contains(p))
{
int gScore = blockToCheck.G + 1;
if (!mb.Passable) //!passable means a prop is there. That means more time smashing.
{
gScore += 3;
}
if (!openList.Contains(p))
{
bool inserted = false;
for (int i = 0; i < openList.Count; i++)
{
if (openList[i].F > p.F)
{
openList.Insert(i, p);
inserted = true;
break;
}
}
if (!inserted)
{
openList.Add(p);
}
}
else
{
//if the block is already in the openList, take the one with the lowest G value. If needed, switch the parent and recalculate G.
PathBlock blockInList = openList.Find((i) => i.Equals(p));
if (p.G < blockInList.G)
{
openList.Remove(blockInList);
bool inserted = false;
for (int i = 0; i < openList.Count; i++)
{
if (openList[i].F > p.F)
{
openList.Insert(i, p);
inserted = true;
break;
}
}
if (!inserted)
{
openList.Add(p);
}
//blockInList.G = p.G;
//blockInList.Parent = blockToCheck;
}
}
}
}
}
return pathToTake;
}
MapBlock attachedBlock; //the MapBlock that this PathBlock represents
public PathBlock(MapBlock m, PathBlock p)
{
attachedBlock = m;
parent = p;
G = 0;
}
public PathBlock(MapBlock m, PathBlock p)
{
attachedBlock = m;
parent = p;
G = 0;
}
public List <PathBlock> AStarPath(MapBlock from, MapBlock to, bool willBreakThroughStuff)
{
if (!to.Passable)
{
//int closestH = 1000;
foreach (MapBlock mb in to.SurroundingBlocks)
{
PathBlock p = new PathBlock(mb, null);
p.CalculateH(from);
}
}
List <PathBlock> pathToTake = new List <PathBlock>(); //final result
List <PathBlock> openList = new List <PathBlock>(); //possible paths to check
List <PathBlock> closedList = new List <PathBlock>(); //all spaces that have been checked
PathBlock first = new PathBlock(from, null);
first.G = 0;
first.CalculateH(to);
openList.Add(new PathBlock(from, null));
if (from.Equals(to))
{
return(pathToTake);
}
while (openList.Count > 0)
{
PathBlock blockToCheck = openList[0];
if (blockToCheck.AttachedBlock.Equals(to))
{
//path found, work backwards from blockToCheck's parent.
//
PathBlock backtracker = blockToCheck;
while (backtracker.Parent != null)
{
pathToTake.Insert(0, backtracker);
backtracker = backtracker.Parent;
}
return(pathToTake);
}
openList.Remove(blockToCheck);
closedList.Add(blockToCheck);
foreach (MapBlock mb in blockToCheck.AttachedBlock.SurroundingBlocks)
{
PathBlock p = new PathBlock(mb, blockToCheck);
p.G = blockToCheck.G + 1;
p.CalculateH(to);
//ignore blocks in the closed list and those that aren't passable unless smashy smashy
//
if (!closedList.Contains(p))
{
int gScore = blockToCheck.G + 1;
if (!mb.Passable) //!passable means a prop is there. That means more time smashing.
{
gScore += 3;
}
if (!openList.Contains(p))
{
bool inserted = false;
for (int i = 0; i < openList.Count; i++)
{
if (openList[i].F > p.F)
{
openList.Insert(i, p);
inserted = true;
break;
}
}
if (!inserted)
{
openList.Add(p);
}
}
else
{
//if the block is already in the openList, take the one with the lowest G value. If needed, switch the parent and recalculate G.
PathBlock blockInList = openList.Find((i) => i.Equals(p));
if (p.G < blockInList.G)
{
openList.Remove(blockInList);
bool inserted = false;
for (int i = 0; i < openList.Count; i++)
{
if (openList[i].F > p.F)
{
openList.Insert(i, p);
inserted = true;
break;
}
}
if (!inserted)
{
openList.Add(p);
}
//blockInList.G = p.G;
//blockInList.Parent = blockToCheck;
}
}
}
}
}
return(pathToTake);
}