public void A_Star_Step()
{
//Get the first Element
while (true)
{
QueueElementAStar Current = Queue[0];
if (Current.Name.Equals(GetGridCharXY(EndPos.x, EndPos.y)))
{
Vector2 GO = GetXYFromName(Current.Name);
float _i = GO.x;
float _j = GO.y;
for (int i = 0; i < Current.road_.Count; i++)
{
Vector2 __ = GetXYFromName(Current.road_[i]);
grid.gridArray[(int)__[0], (int)__[1]].MySprite.GetComponent <SpriteRenderer>().sprite = State_Colors[3];
}
break;
}
Queue.RemoveAt(0);
Debug.Log(Current.Name + " " + GetGridCharXY(EndPos.x, EndPos.y));
if (!(Searched.Contains(Current.Name)))
{
//Get its original grid node
Vector2 GO = GetXYFromName(Current.Name);
float _i = GO.x;
float _j = GO.y;
Debug.Log("THE CURRENT IS " + Current.Name + " and has i of " + _i + " and j of " + _j);
AddElementsToQueue(_i + 1, _j, CostsOfMove.Vertical_Cost, Current.road_);
AddElementsToQueue(_i - 1, _j, CostsOfMove.Vertical_Cost, Current.road_);
AddElementsToQueue(_i, _j + 1, CostsOfMove.Horizontal_Cost, Current.road_);
AddElementsToQueue(_i, _j - 1, CostsOfMove.Horizontal_Cost, Current.road_);
AddElementsToQueue(_i + 1, _j + 1, CostsOfMove.Diagonal_Cost, Current.road_);
AddElementsToQueue(_i - 1, _j - 1, CostsOfMove.Diagonal_Cost, Current.road_);
AddElementsToQueue(_i + 1, _j - 1, CostsOfMove.Diagonal_Cost, Current.road_);
AddElementsToQueue(_i - 1, _j + 1, CostsOfMove.Diagonal_Cost, Current.road_);
grid.gridArray[(int)_i, (int)_j].MySprite.GetComponent <SpriteRenderer>().sprite = State_Colors[2];
Searched.Add(Current.Name);
Queue.Sort(SortByCost);
}
}
}
public void AddElementsToQueue(float i, float j, CostsOfMove TypeOfMovement, List <char> RoadSoFar)
{
if ((i <= grid.gridArray.GetLength(0) - 1) && (j <= grid.gridArray.GetLength(1) - 1) && (i >= 0) && (j >= 0))
{
if ((grid.gridArray[(int)i, (int)j].walkable_))
{
float cost = grid.gridArray[(int)i, (int)j].HCost + (int)TypeOfMovement;
char Name = GetGridCharXY(i, j);
if (!(Searched.Contains(Name)))
{
List <char> R_ = new List <char>();
for (int q = 0; q < RoadSoFar.Count; q++)
{
R_.Add(RoadSoFar[q]);
}
R_.Add(Name);
QueueElementAStar _ = new QueueElementAStar(cost, Name, R_);
//_.PrintTheCurrentRoad();
Queue.Add(_);
grid.gridArray[(int)i, (int)j].MySprite.GetComponent <SpriteRenderer>().sprite = State_Colors[1];
}
}
}
}
static int SortByCost(QueueElementAStar p1, QueueElementAStar p2)
{
return(p1.MyCost.CompareTo(p2.MyCost));
}
