void Init()
{
if (instance != null && instance != this)
Destroy(this);
else
instance = this;
}
public void ComputePath(CE_Board _board, CE_Cell _start, CE_Cell _end)
{
if (!_start || !_end)
{
return;
}
BoardCells = _board;
_board.AllBoardCells.ForEach(c =>
{
c.H = float.MaxValue;
c.G = float.MaxValue;
});
StartCell = _start;
EndCell = _end;
List <CE_Cell> _open = new List <CE_Cell>();
List <CE_Cell> _close = new List <CE_Cell>();
_start.G = 0;
_open.Add(_start);
while (_open.Count != 0)
{
CE_Cell _current = _open[0];
if (_current == _end)
{
Path = GetFinalPath(_start, _end);
break;
}
_open.Remove(_current);
_close.Add(_current);
for (int i = 0; i < _current.Successors.Count; i++)
{
float _g = _current.G + Vector3.Distance(_current.Position, _current.Successors[i].Position);
if (_g < _current.Successors[i].G)
{
_current.Successors[i].Predecessor = _current;
_current.Successors[i].G = _g;
_current.Successors[i].H = Vector3.Distance(_current.Successors[i].Position, _end.Position);
if (!_open.Contains(_current.Successors[i]) && _current.Successors[i].IsNavigable)
{
_open.Add(_current.Successors[i]);
}
}
}
}
}
