public PathData pathTo(Pos target, Pos currentLocation, Tile[][] board, int spikeCost = 5)
{
Dictionary<string, InternalTile> Navigated = new Dictionary<string, InternalTile>();
HashSet<InternalTile> Closed = new HashSet<InternalTile>();
InternalTile beginning = new InternalTile() { TilePos = currentLocation, Weight = 0 };
HashSet<InternalTile> Opened = new HashSet<InternalTile> {
beginning
};
Dictionary<string, int> Scores = new Dictionary<string, int> {
{GetKey(beginning.TilePos.x, beginning.TilePos.y), beginning.Weight}
};
Dictionary<string, float> FullScores = new Dictionary<string, float> {
{GetKey(beginning.TilePos.x, beginning.TilePos.y), GetDistance(currentLocation, target)}
};
while (Opened.Any()) {
InternalTile lowest = Opened.First(tile => GetKey(tile.TilePos.x, tile.TilePos.y) == GetLowestCostTile(FullScores, Opened));
if (lowest.TilePos.x == target.x && lowest.TilePos.y == target.y) {
return ReconstructPath(Navigated, target);
}
Opened.Remove(lowest);
Closed.Add(lowest);
foreach (Pos neighbor in GetNeighbors(lowest.TilePos, board.Length, board[0].Length)) {
if (Closed.Any(tile => tile.TilePos.x == neighbor.x && tile.TilePos.y == neighbor.y)) {
continue;
}
string neighborKey = GetKey(neighbor.x, neighbor.y);
int curScore = Scores[GetKey(lowest.TilePos.x, lowest.TilePos.y)] + 1;
if (!Opened.Any(tile => tile.TilePos.x == neighbor.x && tile.TilePos.y == neighbor.y)) {
Opened.Add(new InternalTile { TilePos = new Pos { x = neighbor.x, y = neighbor.y } });
} else if (curScore >= (Scores.ContainsKey(neighborKey) ? Scores[neighborKey] : int.MaxValue)) {
continue;
}
Navigated.Add(neighborKey, lowest);
Scores.Add(neighborKey, curScore);
FullScores.Add(neighborKey, curScore + GetDistance(neighbor, target));
}
}
return null;
}
public PathData pathTo(Pos target, Pos currentLocation, Tile[][] board, int spikeCost = 5)
{
Dictionary <string, InternalTile> Navigated = new Dictionary <string, InternalTile>();
HashSet <InternalTile> Closed = new HashSet <InternalTile>();
InternalTile beginning = new InternalTile()
{
TilePos = currentLocation, Weight = 0
};
HashSet <InternalTile> Opened = new HashSet <InternalTile> {
beginning
};
Dictionary <string, int> Scores = new Dictionary <string, int> {
{ GetKey(beginning.TilePos.x, beginning.TilePos.y), beginning.Weight }
};
Dictionary <string, float> FullScores = new Dictionary <string, float> {
{ GetKey(beginning.TilePos.x, beginning.TilePos.y), GetDistance(currentLocation, target) }
};
while (Opened.Any())
{
InternalTile lowest = Opened.First(tile => GetKey(tile.TilePos.x, tile.TilePos.y) == GetLowestCostTile(FullScores, Opened));
if (lowest.TilePos.x == target.x && lowest.TilePos.y == target.y)
{
return(ReconstructPath(Navigated, target));
}
Opened.Remove(lowest);
Closed.Add(lowest);
foreach (Pos neighbor in GetNeighbors(lowest.TilePos, board.Length, board[0].Length))
{
if (Closed.Any(tile => tile.TilePos.x == neighbor.x && tile.TilePos.y == neighbor.y))
{
continue;
}
string neighborKey = GetKey(neighbor.x, neighbor.y);
int curScore = Scores[GetKey(lowest.TilePos.x, lowest.TilePos.y)] + 1;
if (!Opened.Any(tile => tile.TilePos.x == neighbor.x && tile.TilePos.y == neighbor.y))
{
Opened.Add(new InternalTile {
TilePos = new Pos {
x = neighbor.x, y = neighbor.y
}
});
}
else if (curScore >= (Scores.ContainsKey(neighborKey) ? Scores[neighborKey] : int.MaxValue))
{
continue;
}
Navigated.Add(neighborKey, lowest);
Scores.Add(neighborKey, curScore);
FullScores.Add(neighborKey, curScore + GetDistance(neighbor, target));
}
}
return(null);
}
