//A* pathfinding for faults
public static List<IntVector2> GetPath(IntVector2 start, IntVector2 goal, List<IntVector2> nodes)
{
List<PathHeuristic> openList = new List<PathHeuristic> ();
List<PathHeuristic> closedList = new List<PathHeuristic> ();
PathHeuristic currentTile = new PathHeuristic(start);
float startFuncTime = Time.realtimeSinceStartup;
do {
//Get the best fault using heuristics
if(openList.Count>0){
PathHeuristic lowestFTile = null;
foreach(PathHeuristic tile in openList){
if(lowestFTile==null){
lowestFTile = tile;
}
else if(tile.score<lowestFTile.score){
lowestFTile = tile;
}
if(lowestFTile.tileIndex==goal){
lowestFTile = tile;
break;
}
}
currentTile = lowestFTile;
}
//Put the currentTile in closedList and remove from open
closedList.Add(currentTile);
openList.Remove(currentTile);
//If the current is at the end
if(currentTile.tileIndex == goal){
List<IntVector2> pathList = new List<IntVector2>();
while(currentTile.parent!=null){
//Add parent to the pathlist
pathList.Add(currentTile.tileIndex);
currentTile = currentTile.parent;
}
pathList.Add(start);
pathList.Reverse();
float time = (Time.realtimeSinceStartup-startFuncTime)*100;
return pathList;
}
//Set adjacent list up
List<IntVector2> adjacentList = GetAdjacentNodes(currentTile.tileIndex, nodes);
foreach(IntVector2 adjacent in adjacentList){
//If adjacent is in closed list, skip
bool adjacentInClosed = false;
foreach(PathHeuristic tile in closedList){
if(tile.tileIndex == adjacent){
adjacentInClosed = true;
}
}
if(adjacentInClosed){
continue;
}
//If not in open list, add it
bool adjacentInOpen = false;
foreach(PathHeuristic tile in openList){
if(tile.tileIndex == adjacent){
adjacentInOpen = true;
}
}
//Add to open list
if(!adjacentInOpen){
PathHeuristic newTile = new PathHeuristic(adjacent, currentTile);
//Score
newTile.SetScore((int)(IntVector2.Distance(adjacent,goal)*10));
openList.Add(newTile);
}
}
} while(openList.Count>0);
//Unable to find a path between the start-goal
return null;
}
