static void Explore(Node start, int range)
{
HeapMin <Node> openSet = new HeapMin <Node> ();
HashSet <Node> closedSet = new HashSet <Node> ();
openSet.Add(start);
while (openSet.Count > 0)
{
Node current = openSet.Remove();
closedSet.Add(current);
if (!(current.gCost < range))
{
continue;
}
foreach (Node n in current.GetConnections())
{
if (closedSet.Contains(n) || !n.IsWalkable())
{
continue;
}
float newCost = current.gCost + GetDistance(current, n);
int newHops = current.gHops + 1;
bool inOpen = openSet.Contains(n);
if (newCost < n.gCost || !inOpen)
{
n.gCost = newCost;
n.gHops = newHops;
n.gParent = current;
if (!inOpen)
{
openSet.Add(n);
}
}
}
}
}
public static List <Node> FindPath(Node start, Node goal)
{
HeapMin <Node> openSet = new HeapMin <Node> ();
HashSet <Node> closedSet = new HashSet <Node> ();
openSet.Add(start);
while (openSet.Count > 0)
{
Node current = openSet.Remove();
closedSet.Add(current);
if (current == goal)
{
return(RetracePath(start, goal));
}
foreach (Node n in current.GetConnections())
{
if (closedSet.Contains(n) || !n.IsWalkable())
{
continue;
}
float newCost = current.gCost + GetDistance(current, n);
bool inOpen = openSet.Contains(n);
if (newCost < n.gCost || !inOpen)
{
n.gCost = newCost;
n.hCost = GetDistance(n, goal);
n.gParent = current;
if (!inOpen)
{
openSet.Add(n);
}
}
}
}
return(null);
}
