private int[] Astar(GridElement startPos, GridElement endPos)
{
List <GridElement> openedList = new List <GridElement> {
startPos
};
List <GridElement> closedList = new List <GridElement>();
var grid = startPos.grid.GridElements;
foreach (var z in grid)
{
foreach (var x in z)
{
GridElement pathNode = isGridElement(x);
pathNode.gCost = int.MaxValue;
pathNode.CalculateFCost();
pathNode.cameFromNode = null;
}
}
startPos.gCost = 0;
startPos.hCost = ManhattanDistance(startPos, endPos);
startPos.CalculateFCost();
while (openedList.Count > 0)
{
GridElement currentGridElement = GetLowestFCost(openedList);
if (currentGridElement == endPos)
{
return(CalcPath(endPos));
}
openedList.Remove(currentGridElement);
closedList.Add(currentGridElement);
foreach (var Node in getNeighbours(currentGridElement))
{
if (closedList.Contains(Node))
{
continue;
}
int hujCost = 0;
if (Node.unit)
{
hujCost = Node.unit.GetComponent <UnitBase>().unitCounters["hp"] / 3;
}
int tempGCost = currentGridElement.gCost + ManhattanDistance(currentGridElement, Node) + hujCost;
if (tempGCost < Node.gCost)
{
Node.cameFromNode = currentGridElement;
Node.gCost = tempGCost;
Node.hCost = ManhattanDistance(Node, endPos);
Node.CalculateFCost();
if (!openedList.Contains(Node))
{
openedList.Add(Node);
}
}
}
}
int [] move = { 0, 0 };
return(move);
}