public override void Update(GameTime gameTime)
{
if (!IsActive)
{
return;
}
foreach (var currentAdjacentCell in grid.GetValidAdjacentCells(currentCell))
{
if (currentAdjacentCell.State != GridCellState.Open)
{
currentAdjacentCell.State = GridCellState.Open;
currentAdjacentCell.Parent = currentCell;
currentAdjacentCell.H = Heuristic.GetEstimate(currentAdjacentCell.Position, grid.Destination.Position) * 10;
currentAdjacentCell.H += GetTieBreaker(currentAdjacentCell);
//currentAdjacentCell.H *= 1 + 1/1000f;
currentAdjacentCell.G = currentCell.G + (currentCell.IsOrthagonalWith(currentAdjacentCell) ? 10 : 14);
openList.Insert(currentAdjacentCell.F, currentAdjacentCell);
}
}
if (openList.Count == 0) //A path cannot be found
{
IsActive = false;
return;
}
totalVisited++;
currentCell = openList.RemoveMin();
currentCell.State = GridCellState.Closed;
if (grid.Destination.State == GridCellState.Closed) //A path has been found
{
var path = currentCell.GetPath();
IsActive = false;
PathFound(this, new PathFoundEventArgs(path, path.Count(),totalVisited -1));
}
base.Update(gameTime);
}
