//Unfinished - commented out so it compiles
public List <TerrainNode> AStar(int x0, int z0, int x1, int z1)
{
List <TerrainNode> closedset = new List <TerrainNode>();
List <TerrainNode> openset = new List <TerrainNode>();
List <TerrainNode> camefrom = new List <TerrainNode>();
TerrainNode start = grid[x0, z0];
TerrainNode goal = grid[x1, z1];
openset.Add(start);
start.setGScore(0);
start.setFScore(start.getGScore() + heuristic_cost_estimate(start, goal));
//While not empty
while (openset.Count != 0)
{
TerrainNode current = null;
for (int i = 0; i < openset.Count; i++)
{
TerrainNode tn = openset[i];
if (current == null || tn.getFScore() < current.getFScore())
{
current = tn;
}
}
if (current == goal)
{
return(reconstruct_path(camefrom, goal));
}
openset.Remove(current);
closedset.Add(current);
List <TerrainNode> neighbours = getNeighbours(current.getX(), current.getZ());
for (int i = 0; i < neighbours.Count; i++)
{
if (closedset.Contains(neighbours[i]))
{
continue;
}
int tenative_g_score = current.getGScore() + 1;
if (!openset.Contains(neighbours[i]) || tenative_g_score < neighbours[i].getGScore())
{
if (!closedset.Contains(neighbours[i]))
{
openset.Add(neighbours[i]);
}
neighbours[i].setCameFrom(current);
neighbours[i].setGScore(tenative_g_score);
neighbours[i].setFScore(neighbours[i].getGScore() + heuristic_cost_estimate(neighbours[i], goal));
}
}
}
return(null);
}
