public List <List <ANode> > UpdateGrid(GameOperator go)
{
int i, j;
List <ANode> listNode;
List <List <ANode> > grid = new List <List <ANode> >();
for (i = 0; i < RoomSetting.Instance.MapSize; i++)
{
listNode = new List <ANode>();
for (j = 0; j < RoomSetting.Instance.MapSize; j++)
{
if (!go.IsPossibleMove(i, j))
{
listNode.Add(new ANode(new Vector2(j, i), true));
}
else
{
listNode.Add(new ANode(new Vector2(j, i), false));
}
}
grid.Add(listNode);
}
return(grid);
}
public ANode FindPath(GameOperator go, Vector2 Start, Vector2 End)
{
Grid = UpdateGrid(go);
ANode start = new ANode(new Vector2((int)(Start.X), (int)(Start.Y)), true);
ANode end = new ANode(new Vector2((int)(End.X), (int)(End.Y)), true);
ANode res = null;
List <ANode> Path = new List <ANode>();
List <ANode> OpenList = new List <ANode>();
List <ANode> ClosedList = new List <ANode>();
List <ANode> neighbors;
ANode current = start;
// add start node to Open List
OpenList.Add(start);
while (OpenList.Count != 0 && !ClosedList.Exists(x => x.Position == end.Position))
{
current = OpenList[0];
OpenList.Remove(current);
ClosedList.Add(current);
neighbors = GetNeighborNodes(current);
foreach (ANode aN in neighbors)
{
if (!ClosedList.Contains(aN) && !aN.isWall)
{
if (!OpenList.Contains(aN))
{
if (aN.Position.X == end.Position.X && aN.Position.Y == end.Position.Y)
{
res = current;
break;
}
aN.Parent = current;
aN.DistanceToTarget = Math.Abs(aN.Position.X - end.Position.X) + Math.Abs(aN.Position.Y - end.Position.Y);
aN.Cost = 1 + aN.Parent.Cost;
OpenList.Add(aN);
OpenList = OpenList.OrderBy(node => node.F).ToList <ANode>();
}
}
}
if (res != null)
{
break;
}
}
// can't find destination
if (res == null)
{
return(null);
}
while (res != null && res != start)
{
Path.Add(res);
res = res.Parent;
}
if (Path.Count > 0)
{
return(Path[Path.Count - 1]);
}
return(null);
}
public Astar(GameOperator go)
{
Grid = UpdateGrid(go);
}
