問題は ShowPath() にあります。このコードをオーバーロードし続けるメソッドは、最短ルートを収集し、開始タイルと終了タイルの両方が見つかったらそれを強調表示することになっています。最初への最短ルートを計算します
using UnityEngine;
using System;
using System.Collections.Generic;
namespace PathfindingClass
{
public class pathFinding
{
public bool startFound = false;
public TileClass.Tile[,] grid = new TileClass.Tile[AStarPath.gridWidth,AStarPath.gridHeight];
public Vector2 startTile;
public Vector2 endTile;
public Vector2 currentTile;
// create a list that stores the checked tiles
List<Vector2> openList = new List<Vector2>();
List<Vector2> closedList = new List<Vector2>();
public pathFinding (TileClass.Tile[,] grid)
{
this.grid = grid;
}
public void SearchPath(Vector2 startTile, Vector2 endTile){
this.startTile = startTile;
this.endTile = endTile;
#region Path Validation
bool canSearch = true;
if(grid[(int)startTile.x,(int)startTile.y].walkable ==false){
canSearch = false;
Console.WriteLine("the start square is not walkable");
}
if(grid[(int)endTile.x,(int)endTile.y].walkable ==false){
canSearch = false;
Console.WriteLine("the end square is not walkable");
}
#endregion
if(canSearch){
//add the starting tile to the open list
openList.Add(startTile);
currentTile = new Vector2(-1,-1);
//while the open list is not empty
while(openList.Count > 0){
currentTile = getTyleWithLowestTotal(openList);
//if the current tile is the end tile stop searching
if((int)currentTile.x == (int)endTile.x && (int)currentTile.y == (int)endTile.y ){
// if((int)currentTile.x == (int)endTile.x){
break;
//}
}else{
openList.Remove(currentTile);
closedList.Add(currentTile);
//get all the adjacent tiles
List<Vector2> adjacentTiles = getAdjacentTiles(currentTile);
foreach(Vector2 adjacentTile in adjacentTiles){
// the adjacent tile is not aloude within eith of the open or closed lists
if(!openList.Contains(adjacentTile)){
if(!closedList.Contains(adjacentTile)){
// move it to the open list
openList.Add(adjacentTile);
TileClass.Tile tile = grid[(int)adjacentTile.x,(int)adjacentTile.y];
tile.cost = grid[(int)adjacentTile.x,(int)adjacentTile.y].cost+1;
//calculate the manhattan distance
tile.horistic = ManhattanDistance(adjacentTile);
//calculate the total cost
tile.total = tile.cost + tile.horistic;
tile.color = new Vector4(0,0,1,1);
tile.Y=2;
}
}
}
}
}
}
grid[(int)startTile.x,(int)startTile.y].color = Color.yellow;
grid[(int)endTile.x,(int)endTile.y].color = Color.yellow;
//Show the shortestPath
ShowPath();
}
public void ShowPath(){
Vector2 currentTile = endTile;
List<Vector2> PathTiles = new List<Vector2>();
while(!startFound){
List<Vector2> adjacentTiles = getAdjacentTiles(currentTile);
//check to see what the used current tile is
foreach(Vector2 adjacentTile in adjacentTiles){
if(openList.Contains(adjacentTile) || closedList.Contains(adjacentTile)){
grid[(int)adjacentTile.x,(int)adjacentTile.y].color = Color.yellow;
if(adjacentTile.x == startTile.x){
startFound = true;
break;
}
}
}
}
}
//calculate the manhattan distance
public int ManhattanDistance(Vector2 adjacentTile){
int manhattan = Math.Abs((int)( endTile.x - adjacentTile.x)) + Math.Abs((int)(endTile.y - adjacentTile.y));
return manhattan;
}
//check the adjacent tiles to the current tile
public List<Vector2> getAdjacentTiles(Vector2 currentTile){
List<Vector2> adjacentTiles = new List<Vector2>();
Vector2 adjacentTile;
//above
adjacentTile = new Vector2(currentTile.x,currentTile.y+1);
if(adjacentTile.y < AStarPath.gridHeight && grid[(int)adjacentTile.x,(int)adjacentTile.y].walkable){
adjacentTiles.Add(adjacentTile);
}
//below
adjacentTile = new Vector2(currentTile.x,currentTile.y-1);
if(adjacentTile.y >= 0 && grid[(int)adjacentTile.x,(int)adjacentTile.y].walkable){
adjacentTiles.Add(adjacentTile);
}
//right
adjacentTile = new Vector2(currentTile.x +1,currentTile.y);
if(adjacentTile.x < AStarPath.gridWidth && grid[(int)adjacentTile.x,(int)adjacentTile.y].walkable){
adjacentTiles.Add(adjacentTile);
}
//left
adjacentTile = new Vector2(currentTile.x -1,currentTile.y);
if(adjacentTile.x >= 0 && grid[(int)adjacentTile.x,(int)adjacentTile.y].walkable){
adjacentTiles.Add(adjacentTile);
}
//optional to add diagonal checking
return adjacentTiles;
}
// get the tiles with the lowest total value
public Vector2 getTyleWithLowestTotal(List<Vector2> openList){
//temp vars
Vector2 tileWithLowestTotal = new Vector2(-1,-1);
int lowestTotal = int.MaxValue;
// search all the open tiles and get the tile with the lowest total cost
foreach(Vector2 openTile in openList){
if(grid[(int)openTile.x,(int)openTile.y].total <= lowestTotal){
lowestTotal = grid[(int)openTile.x,(int)openTile.y].total;
tileWithLowestTotal = grid[(int)openTile.x,(int)openTile.y].ID;
}
}
return tileWithLowestTotal;
}
}
}