private ArrayList openset = new ArrayList(); //ýòî íàáîð âñåõ åùž íå ïðîéäåííûõ, íî óæå îöåíåííûõ òî÷åê
#endregion Fields
#region Methods
//ýòî ðåàëèçàöèÿ àëãîðèòìà À*
public ArrayList algAStar(/*ArrayList allset, */cell start, cell goal)
{
cell p = start;
int tentative_g_score;//îöåíêà ñòîèìîñòè ïóòè ÷åðåç òî÷êó
bool tentative_is_better;//èñòèííî, åñëè ïóòü ÷åðåç òî÷êó ëó÷øå óæå ïðîéäåííîãî ïóòè
ArrayList nearcells = new ArrayList();
//closedset = null;
openset.Add(start);
start.g = 0;
start.h = Convert.ToInt32(start.estimate_cost(goal));
nearcells = allcellsNearX(openset,closedset,start);
p = lowestF(nearcells);
start.f = start.g + start.h;
int k = 0;
while(openset.Count>0)
{
k++;
//Debug.Log ("P:"+Convert.ToString(p.x)+' '+Convert.ToString(p.y));
nearcells = allcellsNearX(openset,closedset,p);
p = lowestF(nearcells);
if(k==100 || p == goal){
return reconstructPath(start,goal);
}
/*foreach(cell c in nearcells){
Debug.Log (Convert.ToString(c.x)+' '+Convert.ToString(c.y));
}*/
openset.Remove(p);
closedset.Add(p);
foreach(cell y in nearcells)//ïðîâåðÿåì âñå òî÷êè, ïðèìûêàþùèå ê õ
{
if((closedset.IndexOf(y)!=-1)||(y.isPassable()==false))
{
continue;//åñëè òî÷êà y óæå ïðîéäåíà èëè íåïðîõîäèìà, ïðîïóñêàåì åž
}
tentative_g_score = p.g + 1;//îöåíèâàåì ðàññòîÿíèå äëÿ ïðîõîæäåíèÿ ÷åðåç òî÷êó
if(openset.IndexOf(y)==-1)
{
openset.Add(y);
tentative_is_better = true;
}
else
{
if(tentative_g_score < y.g)
{tentative_is_better = true;}
else{tentative_is_better = false;}
}
if(tentative_is_better)
{
y.parent = p;
y.g = tentative_g_score;
y.h = Convert.ToInt32(y.estimate_cost(goal));
y.f = y.h + y.g;
allset.Add(y);
}
}
}
return null;
}
