public Path GetPathBetweenRegions(Region startRegion, Region endRegion, IPathFindingRegionSelector regionSelector, IPathFindingCostCalculator costCalculator)
{
List <Region> closedSet = new List <Region>();
List <Region> openSet = new List <Region> {
startRegion
};
Dictionary <int, Region> cameFrom = new Dictionary <int, Region>(); //key - regionID, value - region from which it came
Dictionary <int, double> gScore = new Dictionary <int, double>();
Dictionary <int, double> fScore = new Dictionary <int, double>();
foreach (var region in Persistent.Regions.GetAll())
{
gScore.Add(region.ID, double.MaxValue);
fScore.Add(region.ID, double.MaxValue);
}
gScore[startRegion.ID] = 0;
fScore[startRegion.ID] = 0;// EstimateDistance(startRegion, endRegion);
while (openSet.Count != 0)
{
var currentID = GetKeyWithMinimumValueInOpenSet(fScore, openSet);
var current = Persistent.Regions.First(r => r.ID == currentID);
if (currentID == endRegion.ID)
{
return(reconstructPath(cameFrom, startRegion, current, gScore[currentID]));
}
RemoveFrom(openSet, current);
closedSet.Add(current);
var neighbours = current.GetNeighbours();
List <int> enemiesIDs = new List <int>();
List <int> embargoIDs = new List <int>();
foreach (var neighbour in neighbours)
{
if (closedSet.Contains(neighbour.Region))
{
continue;
}
if (regionSelector.IsPassableRegion(neighbour) == false)
{
closedSet.Add(neighbour.Region);
continue;
}
double tentative_gScore = gScore[current.ID] + costCalculator.CalculatePassageCost(neighbour.Passage);
if (openSet.Contains(neighbour.Region) == false)
{
openSet.Add(neighbour.Region);
}
else if (tentative_gScore >= gScore[neighbour.Region.ID])
{
continue;
}
cameFrom[neighbour.Region.ID] = current;
gScore[neighbour.Region.ID] = tentative_gScore;
fScore[neighbour.Region.ID] = tentative_gScore;
}
}
return(null); //No path
}
public Path GetPathBetweenRegions(Region startRegion, Region endRegion, IPathFindingRegionSelector regionSelector)
{
return(GetPathBetweenRegions(startRegion, endRegion, regionSelector, new DefaultPassageCostCalculator(this)));
}
