public int DistanceFromTo(HexPathNode a, HexPathNode b)
{
int dX = Mathf.Abs(a.Address.X - b.Address.X);
int dY = Mathf.Abs(a.Address.Y - b.Address.Y);
return(10 * (dX > dY ? dX : dY));
}
public List <HexPathNode> GetAdjacentPathNodes(HexPathNode pOrigin)
{
List <HexPathNode> neighbors = new List <HexPathNode>();
foreach (Vector2Int i in NeighborIndices)
{
if (!HexMap.Instance.Tiles.ContainsKey(i + pOrigin.Address))
{
continue;
}
neighbors.Add(HexMap.Instance.Tiles[i + pOrigin.Address].Data.PathNode);
}
return(neighbors);
}
public List <HexPathNode> GetPathFromTo(HexPathNode pStart, HexPathNode pEnd)
{
List <HexPathNode> openSet = new List <HexPathNode>();
List <HexPathNode> closedSet = new List <HexPathNode>();
openSet.Add(pStart);
while (openSet.Count > 0)
{
HexPathNode current = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].F < current.F || (openSet[i].F == current.F && openSet[i].H < current.H))
{
current = openSet[i];
}
}
openSet.Remove(current);
closedSet.Add(current);
// Found a path
if (current == pEnd)
{
List <HexPathNode> path = new List <HexPathNode>();
HexPathNode c = pEnd;
while (c != pStart)
{
path.Add(c);
c = current.Parent;
}
path.Reverse();
return(path);
}
foreach (HexPathNode n in GetAdjacentPathNodes(current))
{
if (closedSet.Contains(n))
{
continue;
}
int costToNeighbor = current.G + DistanceFromTo(current, n) + n.BaseCost;
if (costToNeighbor < n.G || !openSet.Contains(n))
{
n.G = costToNeighbor;
n.H = DistanceFromTo(n, pEnd);
n.Parent = current;
if (!openSet.Contains(n))
{
openSet.Add(n);
}
n.Tile.HexRenderer.color = new Color(1, 1, 0);
}
}
}
// Failed to find a path
return(new List <HexPathNode>());
}