public void AStartPathFinding()
{
StartCell = Maze.StartCell;
FinishCell = Maze.FinishCell;
PriorityQueue <PathFindingCell> cells = new PriorityQueue <PathFindingCell>();
HashSet <PathFindingCell> closedCells = new HashSet <PathFindingCell>();
cells.Enqueue(StartCell);
closedCells.Add(StartCell);
PathFindingCell currentCell;
while (cells.Count() > 0)
{
currentCell = cells.Dequeue();
if (currentCell.Equals(FinishCell))
{
Path = GetPath(currentCell);
//ShowPath(path);
break;
}
foreach (PathFindingCell pathCell in currentCell.Links)
{
if (!closedCells.Contains(pathCell))
{
pathCell.InitializeDistances();
closedCells.Add(pathCell);
pathCell.PreviousCell = currentCell;
cells.Enqueue(pathCell);
}
}
}
}
//private void ShowPath(Stack<PathFindingCell> path)
//{
// foreach (PathFindingCell cell in path)
// {
// int children = cell.transform.childCount;
// GameObject floor = cell.transform.GetChild(children - 1).gameObject;
// floor.GetComponent<MeshRenderer>().material = PathMaterial;
// }
//}
private Stack <PathFindingCell> GetPath(PathFindingCell currentCell)
{
Stack <PathFindingCell> pathCells = new Stack <PathFindingCell>();
PathFindingCell nextPathCell = currentCell.PreviousCell;
pathCells.Push(currentCell);
while (nextPathCell != null)
{
pathCells.Push(nextPathCell);
nextPathCell = nextPathCell.PreviousCell;
}
return(pathCells);
}