public virtual Path FindPathToTarget(Piece targetPiece, BattleBoard board)
{
Field origin = owner.Field;
Field target = targetPiece.Field;
Field currentNode;
//create the open list of nodes, initially containing only our starting node
//create the closed list of nodes, initially empty
openNodes.Clear();
closedNodes.Clear();
openNodes.Add(origin);
Path path = new Path(owner, targetPiece);
board.ClearParents();
bool done = false;
while (!done)
{
//consider the best node in the open list (the node with the lowest f value)
float lowestF = openNodes[0].F(target);
currentNode = openNodes[0];
foreach (var node in openNodes)
{
if (node.F(target) < lowestF)
{
currentNode = node;
lowestF = node.F(target);
}
}
if (currentNode.Equals(target))
{
done = true;
Console.WriteLine("Success");
path.Cost = (int)currentNode.PathCost;
while (currentNode.PathParent != null)
{
path.Fields.Add(currentNode);
currentNode = currentNode.PathParent;
}
return(path);
}
else
{
//move the current node to the closed list and consider all of its neighbors
openNodes.Remove(currentNode);
closedNodes.Add(currentNode);
List <Field> neighbors = currentNode.Neighbors(board, target);
foreach (var node in neighbors)
{
if (closedNodes.Contains(node) || openNodes.Contains(node))
{
if (node.PathCost > currentNode.PathCost + node.StepCost(currentNode))
{
node.PathCost = currentNode.PathCost + node.StepCost(currentNode);
node.PathParent = currentNode;
}
}
else
{
node.PathCost = currentNode.PathCost + node.StepCost(currentNode);
node.PathParent = currentNode;
openNodes.Add(node);
}
}
}
if (openNodes.Count == 0)
{
Console.WriteLine("No path found");
return(null);
}
}
return(null);
}
