public static Path FindPath(
ISearchCache searchCache,
Vec2I start,
Func <Vec2I, bool> passableFn,
Func <Vec2I, bool> destinationFn,
Func <Vec2I, float> heuristicFn)
{
var cache = (searchCache as SearchCache);
cache.Reset();
cache.Open(null, start, 0, 0);
while (cache.hasOpen)
{
Node n = cache.NextOpen();
if (destinationFn(n.pos))
{
return(ConstructPath(n));
}
foreach (Vec2I dir in directions)
{
Vec2I pos = n.pos + dir;
if (!MathExt.InGrid(cache.size, pos) || cache.Closed(pos) || !passableFn(pos))
{
continue;
}
if (dir.x != 0 && dir.y != 0)
{
if (!passableFn(n.pos + new Vec2I(dir.x, 0)) ||
!passableFn(n.pos + new Vec2I(0, dir.y)))
{
continue;
}
}
float g = n.g + Vec2I.Distance(pos, n.pos);
Node openNode = cache.GetOpenNode(pos);
if (openNode != null)
{
if (g < openNode.g)
{
openNode.parent = n;
openNode.g = g;
cache.UpdateOpenNode(openNode);
}
}
else
{
cache.Open(n, pos, g, heuristicFn(pos));
}
}
}
return(null);
}
public bool ValidTile(Vec2I tile) => MathExt.InGrid(size, tile);