public static List <T> CalculatePath <T>(T[,] grid, int startX, int startY, int endX, int endY,
List <int> walkableIDs) where T : Node
{
List <T> ret = new List <T>();
int xL = grid.GetLength(0), yL = grid.GetLength(1);
//out of bounds
if (startX < 0 || startY < 0 || startX >= xL || startY >= yL)
{
return(ret);
}
//main lists
List <NodePathable> open = new List <NodePathable>()
{
new NodePathable(grid[startX, startY])
};
List <Node> closed = new List <Node>();
//shortcuts
NodePathable current, addable;
Node n;
List <NodePathable> adjecent = new List <NodePathable>();
Node destination = grid[endX, endY];
sortRoot = new Vector2(endX, endY);
while (open.Count > 0)
{
//sort
open.SuperSort(SortNodes);
//update lists
current = open[0];
closed.Add(open[0].node);
open.RemoveAt(0);
n = current.node;
//check borders
adjecent.Clear();
//top
if (n.y + 1 < yL)
{
addable = new NodePathable(grid[n.x, n.y + 1], current);
if (!open.Contains(addable) && !closed.Contains(addable.node))
{
if (walkableIDs.Contains(addable.node.typeID))
{
adjecent.Add(addable);
}
}
}
//right
if (n.x + 1 < xL)
{
addable = new NodePathable(grid[n.x + 1, n.y], current);
if (!open.Contains(addable) && !closed.Contains(addable.node))
{
if (walkableIDs.Contains(addable.node.typeID))
{
adjecent.Add(addable);
}
}
}
//bottom
if (n.y - 1 > 0)
{
addable = new NodePathable(grid[n.x, n.y - 1], current);
if (!open.Contains(addable) && !closed.Contains(addable.node))
{
if (walkableIDs.Contains(addable.node.typeID))
{
adjecent.Add(addable);
}
}
}
//left
if (n.x - 1 > 0)
{
addable = new NodePathable(grid[n.x - 1, n.y], current);
if (!open.Contains(addable) && !closed.Contains(addable.node))
{
if (walkableIDs.Contains(addable.node.typeID))
{
adjecent.Add(addable);
}
}
}
foreach (NodePathable node in adjecent)
{
open.Add(node);
current = node;
if (node.node == destination)
{
while (current.parent != null)
{
ret.Add(current.parent.node as T);
current = current.parent;
}
return(ret);
}
}
}
return(ret);
}
private static float SortNodes(NodePathable node)
{
return(Vector2.Distance(new Vector2(node.node.x, node.node.y), sortRoot));
}
public NodePathable(Node node, NodePathable parent)
{
this.node = node;
this.parent = parent;
}
