private static List <Grid.Row> RowGetBestPath(Grid grid, Grid.Row start, Grid.Row end, GridPosition[] occupied, float maxCost = 9999)
{
List <Grid.Row> closed = new List <Grid.Row>();
List <RowPath> open = new List <RowPath>();
RowPath originPath = new RowPath();
originPath.AddRow(start);
open.Add(originPath);
while (open.Count > 0)
{
open = open.OrderBy(x => x.costOfPath).ToList();
RowPath current = open[0];
open.Remove(open[0]);
if (closed.Contains(current.lastRow))
{
continue;
}
if (current.lastRow == end)
{
current.listOfRows.Distinct();
current.listOfRows.Remove(start);
if (current.listOfRows.Count > maxCost)
{
return(null);
}
return(current.listOfRows);
}
closed.Add(current.lastRow);
foreach (Grid.Row t in current.lastRow.GetNeighbors(grid))
{
if (t.impassible || occupied.Contains(t.position) || t.occuped || System.Math.Abs(t.height - current.lastRow.height) > 1)
{
continue;
}
RowPath newRowPath = new RowPath(current);
newRowPath.AddRow(t);
open.Add(newRowPath);
}
}
return(null);
}
public RowPath(RowPath tp)
{
listOfRows = tp.listOfRows.ToList();
costOfPath = tp.costOfPath;
lastRow = tp.lastRow;
}