public void FindPath(T start, T end, float minHeuristic, int maxPositionsToCheck)
{
if (Path == null)
{
throw new InvalidOperationException("Path not specified.");
}
if (World == null)
{
throw new InvalidOperationException("AStar World not specified.");
}
if (OpenStorage == null)
{
throw new InvalidOperationException("AStar OpenStorage not specified.");
}
if (OpenStorage == null)
{
throw new InvalidOperationException("AStar ClosedStorage not specified.");
}
m_nodesCacheIndex = 0;
m_openHeap.Clear();
OpenStorage.Clear();
ClosedStorage.Clear();
Node node = NewNode(start, default(T), 0f, 0f);
OpenStorage.Set(start, node);
HeapEnqueue(node);
Node node2 = null;
int num = 0;
Node node3;
while (true)
{
node3 = ((m_openHeap.Count > 0) ? HeapDequeue() : null);
if (node3 == null || num >= maxPositionsToCheck)
{
if (node2 != null)
{
BuildPathFromEndNode(node, node2);
return;
}
Path.Clear();
PathCost = 0f;
return;
}
if (World.IsGoal(node3.Position))
{
break;
}
ClosedStorage.Set(node3.Position, node3);
OpenStorage.Set(node3.Position, null);
num++;
m_neighbors.Clear();
World.Neighbors(node3.Position, m_neighbors);
for (int i = 0; i < m_neighbors.Count; i++)
{
T val = m_neighbors.Array[i];
if (ClosedStorage.Get(val) != null)
{
continue;
}
float num2 = World.Cost(node3.Position, val);
if (num2 == float.PositiveInfinity)
{
continue;
}
float num3 = node3.G + num2;
float num4 = World.Heuristic(val, end);
if (node3 != node && (node2 == null || num4 < node2.H))
{
node2 = node3;
}
Node node4 = (Node)OpenStorage.Get(val);
if (node4 != null)
{
if (num3 < node4.G)
{
node4.G = num3;
node4.F = num3 + node4.H;
node4.PreviousPosition = node3.Position;
HeapUpdate(node4);
}
}
else
{
node4 = NewNode(val, node3.Position, num3, num4);
OpenStorage.Set(val, node4);
HeapEnqueue(node4);
}
}
}
BuildPathFromEndNode(node, node3);
}
public OpenController(OpenStorage storage)
{
this._Storage = storage;
}
