private static void ResetMap()
{
for (int i = 0; i < m_map.Row; i++)
{
for (int j = 0; j < m_map.Column; j++)
{
AStarMapCell mc = m_map.GetCell(i, j);
if (mc != null)
{
mc.IsInOpenList = false;
mc.IsInCloseList = false;
mc.SetParent(null);
mc.H = 0;
mc.G = 0;
}
}
}
}
public static List <AStarMapCell> CalculatePath(AStarMapCell start, AStarMapCell end, AStarMap map)
{
m_openList.Clear();
m_closeList.Clear();
m_map = map;
ResetMap();
start.G = 0;
start.CalculateH(end);
m_openList.Add(start);
start.IsInOpenList = true;
while (true)
{
int nearestIndex = FindNearestCellInOpenList();
AStarMapCell cur;
if (nearestIndex >= 0)
{
cur = m_openList [nearestIndex];
if (cur.Equals(end))
{
return(BacktrackPath(cur));
}
}
else
{
return(new List <AStarMapCell> ());
}
for (int i = cur.Row - 1; i <= cur.Row + 1; i++)
{
for (int j = cur.Column - 1; j <= cur.Column + 1; j++)
{
if (i >= 0 && i < m_map.Row && j >= 0 && j < m_map.Column)
{
AStarMapCell mc = m_map.GetCell(i, j);
if (mc != null && !mc.IsInCloseList && mc.CanArrive(cur))
{
if (mc.IsInOpenList)
{
int dist = cur.CalculateNeighborDist(mc);
if (cur.G + dist < mc.G)
{
mc.G = cur.G + dist;
mc.SetParent(cur);
}
}
else
{
mc.SetParent(cur);
mc.CalculateH(end);
mc.CalculateG(cur);
mc.IsInOpenList = true;
m_openList.Add(mc);
}
}
}
}
}
m_openList.RemoveAt(nearestIndex);
cur.IsInOpenList = false;
m_closeList.Add(cur);
cur.IsInCloseList = true;
}
return(new List <AStarMapCell> ());
}