private void FindPath()
{
_iterations++;
if (WayPoint.Count > 0)
{
//log.Debug("WayPoint.Count > 0");
return;
}
if (_iterations > 500)
{
//log.Debug("Iterations > 50");
return;
}
// pop the top item off the openlist and find surrounding cells
var node = _openList.Pop();
//log.DebugFormat("FindPath({0},{1})", node.X, node.Y);
_closedList.Push(node);
var surroundingCells = _terrainMap.FindAdjacentCells(node.X, node.Y, _unitType, 1);
foreach (var mapCoordinates in surroundingCells)
{
// skip any nodes that are already in the closed list
if (!_closedList.Contains(mapCoordinates.Col, mapCoordinates.Row))
{
var distance = node.G;
if (_terrainMap[mapCoordinates.Col, mapCoordinates.Row].Roads > 0)
{
distance += 1;
}
else
{
distance += 3;
}
if (_openList.Contains(mapCoordinates.Col, mapCoordinates.Row))
{
// check to see if this path is shorter than the one on the open list, if so, then update it, otherwise skip
var tempNode = new AStarNode(node.X, node.Y, mapCoordinates.Col, mapCoordinates.Row, _endCol, _endRow, distance);
_openList.UpdateNodeIfBetter(tempNode);
}
else
{
_openList.Push(new AStarNode(node.X, node.Y, mapCoordinates.Col, mapCoordinates.Row, _endCol, _endRow, distance));
}
}
}
var smallestNode = _openList.FindSmallestNode();
if (smallestNode == null)
{
//log.Debug("smallestNode == null");
return;
}
// check if this is the destination node
if (smallestNode.X == _endCol && smallestNode.Y == _endRow)
{
// consolidate the actual path into the WayPoint list
WayPoint.Add(new Offset(_endCol, _endRow));
// walk back to the starting point
var tempNode = _closedList.GetNode(smallestNode.Source.X, smallestNode.Source.Y);
while (tempNode.X != _startCol || tempNode.Y != _startRow)
{
WayPoint.Insert(0, new Offset(tempNode.X, tempNode.Y));
tempNode = _closedList.GetNode(tempNode.Source.X, tempNode.Source.Y);
}
// clear the open and closed lists
_openList.Clear();
_closedList.Clear();
//log.Debug("success");
return;
}
_openList.Push(smallestNode);
FindPath();
}
public void Push(AStarNode node)
{
_items.Add(node);
}
