private Node OpenNode(Node[] nodes, int node_index, PanelModel start, PanelModel goal)
{
// 添字から座標に
var center = _stage[node_index];
int center_cost = nodes[node_index].cost;
foreach (Direction direction in Enum.GetValues(typeof(Direction)))
{
var open_position = OpenPosition(center, direction);
if (open_position == goal)
{
nodes[_stageHash[open_position.GetEntity().X][open_position.GetEntity().Y]].parentIndex = node_index;
return(nodes[_stageHash[goal.GetEntity().X][goal.GetEntity().Y]]);
}
if (open_position == null || !open_position.Invasive())
{
continue;
}
// コスト計算
int cost = costs[_stageHash[open_position.GetEntity().X][open_position.GetEntity().Y]] + center_cost +
1;
int heuristic = math.abs(goal.GetEntity().X - open_position.GetEntity().X) +
math.abs(goal.GetEntity().Y - open_position.GetEntity().Y);
int score = cost + heuristic + 1;
int next_index = _stageHash[open_position.GetEntity().X][open_position.GetEntity().Y];
if (nodes[next_index].status == STATUS_FREE || nodes[next_index].score > score)
{
nodes[next_index].status = STATUS_OPEN;
nodes[next_index].cost = cost;
nodes[next_index].length = math.abs(start.GetEntity().X - open_position.GetEntity().X) +
math.abs(start.GetEntity().Y - open_position.GetEntity().Y);
nodes[next_index].heuristic = heuristic;
nodes[next_index].parentIndex = node_index;
}
}
nodes[node_index].status = STATUS_CLOSE;
return(nodes[node_index]);
}
private PanelModel OpenPosition(PanelModel center, Direction direction)
{
var x = direction == Direction.Right ? 1 : 0;
x = direction == Direction.Left ? -1 : 0;
var y = direction == Direction.Up ? 1 : 0;
y = direction == Direction.Down ? -1 : 0;
if (_stageHash.Count <= center.GetEntity().X + x || _stageHash[0].Count <= center.GetEntity().Y + y)
{
return(null);
}
var index = _stageHash[center.GetEntity().X + x][center.GetEntity().Y + y];
return(_stage[index]);
}