static Node A_Star(Node root)
{
var goal = new Node(-1, Goal);
Open.Add(root);
while (Open.Count != 0)
{
var node = Open.First();
Closed.Add(node);
Open.RemoveAt(0);
if (node.Equals(goal))
{
return(node);
}
foreach (var child in node.GenerateChildren())
{
var nodeInOpen = Open.Where(x => x.Equals(child)).FirstOrDefault();
var nodeInClosed = Closed.Where(x => x.Equals(child)).FirstOrDefault();
if (child.Equals(goal))
{
return(child);
}
if (nodeInOpen != null)
{
if (nodeInOpen.Level > child.Level)
{
Open.Remove(nodeInOpen);
Open.Add(child);
}
}
else if (nodeInClosed != null)
{
if (nodeInClosed.Level > child.Level)
{
Closed.Remove(nodeInClosed);
Open.Add(child);
}
}
else
{
Open.Add(child);
}
}
Open.Sort((a, b) => a.FScore.CompareTo(b.FScore));
//Open= Open.OrderBy(x => x.FScore).ToList();
}
Console.WriteLine("Unsolvable problem");
return(null);
}
protected override void WhenRemovingClosed(Vector2Int v2i)
{
Closed.Remove(v2i);
//remove all hidden from closed
for (int i = 0; i < ClosedHiddenNeighbores[v2i].Count; i++)
{
Vector2Int current = ClosedHiddenNeighbores[v2i][i];
HiddenClosedRelations[current].Remove(v2i);
//Debug.Log("removed from: " + current);
}
ClosedHiddenNeighbores.Remove(v2i);
InvalidTiles[v2i.x, v2i.y] = true;
}
protected virtual void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge)
{
//this is where you process a child node
var childNode = GenerateChildNodeRecord(bestNode, connectionEdge);
//Get the cost estimate for the end node
NavigationGraphNode endNode = connectionEdge.ToNode;
float endNodeCost = bestNode.gValue + connectionEdge.Cost;
//If the node is closed we may have to skip, or remove it from the close list.
if (Closed.contains(endNode))
{
NodeRecord endNodeRecord = Closed.find(endNode); //should find this in the closed list
if (endNodeRecord.gValue <= endNodeCost)
{
continue;
}
Closed.Remove(endNodeRecord);
float endNodeHeuristic = endNodeRecord.fValue - endNodeRecord.gValue;
}
else if (Open.contains(endNode))
{
NodeRecord endNodeRecord = Open.find(endNode);
if (endNodeRecord.gValue <= endNodeCost)
{
continue;
}
float endNodeHeuristic = endNodeRecord.fValue - endNodeRecord.gValue;
}
else
{
NodeRecord endNodeRecord = new NodeRecord();
endNodeRecord.node = endNode;
var endNodeHeuristic = this.Heuristic.H(endNode, GoalNode);
endNodeRecord.gValue = endNodeCost;
endNodeRecord.parent = bestNode;
endNodeRecord.fValue = endNodeCost + endNodeHeuristic;
if (!Open.contains(endNode))
{
Open.Add(endNodeRecord);
}
}
}
protected virtual void WhenRemovingClosed(Vector2Int v2i)
{
Closed.Remove(v2i);
InvalidTiles[v2i.x, v2i.y] = true;
}