public List<Vector3> astarPath(Tile endIn)
{
List<Vector3> path = new List<Vector3> ();
;
//Tile start= new Tile();
Tile start = current_tile; //start tile in
//Tile end = new Tile();
Tile end = endIn; //levelGrid.getTile(10,10); //target tile in
Tile current_check_tile = new Tile ();
List<Tile> open_list = new List<Tile> ();
List<Tile> closed_list = new List<Tile> ();
int g_score = 0; // Cost from start along best known path.
int h_score; //heuristic score
int f_score; // Estimated total cost from start to goal through y.
start.setGScore (g_score);
h_score = Mathf.Abs (end.x_pos - start.x_pos) + Mathf.Abs (end.z_pos - start.z_pos);
start.setFScore (g_score + h_score);
//Debug.Log("START TILE SCORE: G: " + start.getGScore().ToString() + ", F: " + start.getFScore().ToString());
int loop_counter = 0;
open_list.Add (start); //Add start tile to open list
//while open list is not empty
while (open_list.Count > 0) {
// Debug.Log("Loop counter: " + loop_counter.ToString());
loop_counter++;
if (loop_counter == 30)
break;
current_check_tile = getBestTile (open_list); //Get tile with lowest f value
//Debug.Log("BEST TILE: " + current_check_tile.x_pos.ToString() + "," + current_check_tile.z_pos.ToString());
//if the current_tile in the target
if (current_check_tile.centre == end.centre) {
// Debug.Log("Goal reached");
closed_list.Add (current_check_tile);
path = ConstructPath (closed_list); //Calculate the path
break; //exit while loop
}
open_list.Remove (current_check_tile); //remove current_tile from open list
closed_list.Add (current_check_tile); //add current_tile to closed list
// Debug.Log("CURRENT TILE: " + current_check_tile.x_pos.ToString() + "," + current_check_tile.z_pos.ToString());
//get tiles connected to current_tile
List<Tile> neighbors = getNeighbours (current_check_tile);
foreach (Tile nt in neighbors) {
//Debug.Log("NEIGHBOR TILE SCORE: G: " + nt.getGScore().ToString() + ", F: " + nt.getFScore().ToString());
}
foreach (Tile nt in neighbors) {
//Debug.Log("NEIBOUR X: " + nt.x_pos.ToString() + " Z: " + nt.z_pos.ToString());
if (closed_list.Contains (nt) || nt.getCollision () == 1) //if tile is on closed list, move to next tile
continue;
//G score of current tile
g_score = current_check_tile.getGScore () + 1;
//heuristic sore of current neighbor tile
h_score = Mathf.Abs (end.x_pos - nt.x_pos) + Mathf.Abs (end.z_pos - nt.z_pos);
//total movement score of current neighbor tile
f_score = g_score + h_score;
//if tile not already on open list OR f score of current n tile
if (!open_list.Contains (nt) || f_score < nt.getFScore ()) {
//Set scores for neighbour tiles
nt.setParent (current_check_tile);
nt.setGScore (g_score);
nt.setFScore (f_score);
//If current neighbour tile is not on open list, add
if (!open_list.Contains (nt)) {
open_list.Add (nt);
}
}
}
}
return path;
}
