public bool isEqual(node other)
{
return (xPos == other.xPos && yPos == other.yPos);
}
private void aStar()
{
List<node> open = new List<node>();
List<node> closed = new List<node>();
node active = new node();
active.xPos = startX;
active.yPos = startY;
open.Add(active);
while ((active.xPos != destX || active.yPos != destY))
{
for (int i = 0; i < 8; i++)
{
int x = 0;
int y = 0;
//west
if (i == 0)
{
x = -1;
y = 0;
}
//northwest
if (i == 1)
{
x = -1;
y = -1;
}
//north
if (i == 2)
{
x = 0;
y = -1;
}
//northeast
if (i == 3)
{
x = 1;
y = -1;
}
//east
if (i == 4)
{
x = 1;
y = 0;
}
//southeast
if (i == 5)
{
x = 1;
y = 1;
}
//south
if (i == 6)
{
x = 0;
y = 1;
}
//southwest
if (i == 7)
{
x = -1;
y = 1;
}
node temp = new node();
temp.parent = active;
temp.xPos = temp.parent.xPos + x;
temp.yPos = temp.parent.yPos + y;
if ((temp.xPos >= 0 && temp.xPos< 172) && (temp.yPos >= 0 && temp.yPos < 120))
{
//calculates F G and H values
if (Math.Abs(x) == Math.Abs(y))
temp.G = 14;
else
temp.G = 10;
temp.G = temp.G + temp.parent.G;
temp.H = (Math.Abs(temp.xPos - destX) + Math.Abs(temp.yPos - destY)) * 10;
temp.F = temp.G + temp.H;
//checks if node is in open
bool containsOpen = false;
bool containsClosed = false;
if (map[temp.xPos, temp.yPos] != 1)
{
for (int k = 0; k < open.Count; k++)
{
if (open.ElementAt(k).isEqual(temp))
{
containsOpen = true;
if (active.G + temp.G < open.ElementAt(k).G)
{
open.ElementAt(k).parent = active;
temp.G = active.G + open.ElementAt(k).G;
temp.F = temp.G + temp.H;
}
}
}
for (int k = 0; k < closed.Count; k++)
{
if (closed.ElementAt(k).isEqual(temp))
{
containsClosed = true;
}
}
if (!containsOpen && !containsClosed)
{
open.Add(temp);
map[temp.xPos, temp.yPos] = 2;
}
}
}
}
//finds lowest F value
int min = 1;
for (int k = 1; k < open.Count; k++)
{
if (open.ElementAt(k).F <= open.ElementAt(min).F)
min = k;
}
closed.Add(active);
map[open.ElementAt(min).xPos, open.ElementAt(min).yPos] = 5;
active = open.ElementAt(min);
open.RemoveAt(min);
}
while (active.xPos != startX || active.yPos != startY)
{
map[active.xPos,active.yPos] = 6;
active = active.parent;
}
}