public List <MapCellAStar> GetSuccessors()
{
List <MapCellAStar> successors = new List <MapCellAStar>();
for (short xd = -1; xd <= 1; xd++)
{
for (short yd = -1; yd <= 1; yd++)
{
if (!ServerManager.GetMap(MapId).IsBlockedZone(X + xd, Y + yd))
{
MapCellAStar n = new MapCellAStar(this, this._goalcell, (short)(X + xd), (short)(Y + yd), MapId);
if (!n.IsMatch(this.parentcell) && !n.IsMatch(this))
{
successors.Add(n);
}
}
}
}
return(successors);
}
public int IndexOf(MapCellAStar n)
{
for (int i = 0; i < _list.Count; i++)
{
MapCellAStar cellInTheList = (MapCellAStar)_list[i];
if (cellInTheList.IsMatch(n))
{
return(i);
}
}
return(-1);
}
public List <MapCell> AStar(MapCell cell1, MapCell cell2)
{
List <MapCell> SolutionPathList = new List <MapCell>();
SortedCostMapCellList OPEN = new SortedCostMapCellList();
SortedCostMapCellList CLOSED = new SortedCostMapCellList();
MapCellAStar cell_start = new MapCellAStar(null, null, cell1.X, cell1.Y, cell1.MapId);
MapCellAStar cell_goal = new MapCellAStar(null, null, cell2.X, cell2.Y, cell2.MapId);
OPEN.Push(cell_start);
while (OPEN.Count > 0)
{
MapCellAStar cell_current = OPEN.Pop();
if (cell_current.IsMatch(cell_goal))
{
cell_goal.parentcell = cell_current.parentcell;
break;
}
List <MapCellAStar> successors = cell_current.GetSuccessors();
foreach (MapCellAStar cell_successor in successors)
{
int oFound = OPEN.IndexOf(cell_successor);
if (oFound > 0)
{
MapCellAStar existing_cell = OPEN.CellAt(oFound);
if (existing_cell.CompareTo(cell_current) <= 0)
{
continue;
}
}
int cFound = CLOSED.IndexOf(cell_successor);
if (cFound > 0)
{
MapCellAStar existing_cell = CLOSED.CellAt(cFound);
if (existing_cell.CompareTo(cell_current) <= 0)
{
continue;
}
}
if (oFound != -1)
{
OPEN.RemoveAt(oFound);
}
if (cFound != -1)
{
CLOSED.RemoveAt(cFound);
}
OPEN.Push(cell_successor);
}
CLOSED.Push(cell_current);
}
MapCellAStar p = cell_goal;
while (p != null)
{
SolutionPathList.Insert(0, p);
p = p.parentcell;
}
return(SolutionPathList);
}