public static SortedSet <__AStarNode> getPathDrawnBetween(Level level, IntVec from, IntVec to, int count)
{
int actions = 0;
int[,] solid = level.getIntSolid();
SortedSet <__AStarNode> nodes = new SortedSet <__AStarNode>(new __AStarNode.__AStarNodeComparer());
__AStarNode recentNode = new __AStarNode(from, 0, 10 * calculateHeuristic(from, to));
__AStarNode bestNode = recentNode;
nodes.Add(recentNode);
while (recentNode != null && !recentNode.position.Equals(to) && !recentNode.expanded && (actions < count))
{
recentNode = nodes.Min;
if (recentNode != null)
{
//recentNode.expanded = true;
Direction[] closest = closestDirections(to - recentNode.position);
if (recentNode.heuristic.CompareTo(bestNode.heuristic) <= 0)
{
//Console.Write("test");
bestNode = recentNode;
}
for (int i = 0; i < closest.Length; i++)//foreach (Direction dir in Direction.Values)
{
Direction dir = closest[i];
IntVec newLocation = recentNode.position + dir;
if (solid[newLocation.X, newLocation.Y] < -(recentNode.actualCost + 10) && (actions++ < count))
{
solid[newLocation.X, newLocation.Y] = -(recentNode.actualCost + 10);
nodes.Add(new __AStarNode(newLocation, recentNode.actualCost + 10, 10 * calculateHeuristic(newLocation, to), i, recentNode, dir));
}
}
if (actions++ < count)
{
nodes.Remove(recentNode);
}
}
}
return(nodes);
}
public static Direction[] getPathBetween(Level level, IntVec from, IntVec to, ref bool isPossible)
{
int[,] solid = level.getIntSolid();
SortedSet <__AStarNode> nodes = new SortedSet <__AStarNode>(new __AStarNode.__AStarNodeComparer());
__AStarNode recentNode = new __AStarNode(from, 0, 10 * calculateHeuristic(from, to));
__AStarNode bestNode = recentNode;
nodes.Add(recentNode);
while (recentNode != null && !recentNode.position.Equals(to) && !recentNode.expanded)
{
recentNode = nodes.Min;
if (recentNode != null)
{
//recentNode.expanded = true;
Direction[] closest = closestDirections(to - recentNode.position);
if (recentNode.heuristic.CompareTo(bestNode.heuristic) <= 0)
{
//Console.Write("test");
bestNode = recentNode;
}
for (int i = 0; i < closest.Length; i++) //foreach (Direction dir in Direction.Values)
{
Direction dir = closest[i];
IntVec newLocation = recentNode.position + dir;
if (solid[newLocation.X, newLocation.Y] < -(recentNode.actualCost + 10) || (solid[newLocation.X, newLocation.Y] == int.MaxValue && newLocation.Equals(to)))
{
solid[newLocation.X, newLocation.Y] = -(recentNode.actualCost + 10);
nodes.Add(new __AStarNode(newLocation, recentNode.actualCost + 10, 10 * calculateHeuristic(newLocation, to), i, recentNode, dir));
}
}
nodes.Remove(recentNode);
}
}
if (bestNode != null)
{
isPossible = bestNode.position.Equals(to);
}
List <Direction> path = new List <Direction>();
recentNode = recentNode ?? bestNode;
while (recentNode != null && !recentNode.position.Equals(from))
{
path.Add(recentNode.directionTaken);
recentNode = recentNode.reachedFrom;
}
path.Reverse();
return(path.ToArray());
}
