/* returned Path contains game coordinates, not tile coordinates */
public Path FindPath() {
if (this.found) {
PathTile end = this.map[this.targetX][this.targetY];
PathTile current = end.parent;
ArrayList<PathTile> temp = new ArrayList<PathTile>();
Path path = new Path();
end.onPath = true;
temp.add(end);
while (current != null) {
current.onPath = true;
if (!(current.x == this.startX && current.y == this.startY)) {
temp.add(current);
}
current = current.parent;
}
int sx = this.startX;
int sy = this.startY;
for (int i = temp.size() - 1; i >= 0; i--) {
PathTile tempTile = temp.get(i);
if (tempTile.x < sx) {
path.AddTarget(tempTile.x * tilesize, tempTile.y * tilesize, Direction.LEFT);
} else if (tempTile.x > sx) {
path.AddTarget(tempTile.x * tilesize, tempTile.y * tilesize, Direction.RIGHT);
} else if (tempTile.y < sy) {
path.AddTarget(tempTile.x * tilesize, tempTile.y * tilesize, Direction.UP);
} else if (tempTile.y > sy) {
path.AddTarget(tempTile.x * tilesize, tempTile.y * tilesize, Direction.DOWN);
}
sx = tempTile.x;
sy = tempTile.y;
}
for (int x = 0; x < map.length; x++) {
for (int y = 0; y < map[0].length; y++) {
map[x][y].parent = null;
map[x][y].f = 0;
map[x][y].g = 0;
map[x][y].onPath = false;
}
}
return path;
} else {
return null;
}
}
public PathTile CalculateTotalCost(
PathTile[][] map, int x, int y, ArrayList<PathTile> open, ArrayList<PathTile> closed) {
if (x < map.length && y < map[0].length) {
PathTile current = map[x][y];
PathTile temp;
temp = GetNorth(map, x, y);
if (temp != null && !temp.solid) {
if (!closed.contains(temp) && !open.contains(temp)) {
temp.g = current.g + 1;
temp.f = temp.g + temp.h;
temp.parent = current;
map[temp.x][temp.y] = temp;
open.add(temp);
}
}
temp = GetSouth(map, x, y);
if (temp != null && !temp.solid) {
if (!closed.contains(temp) && !open.contains(temp)) {
temp.g = current.g + 1;
temp.f = temp.g + temp.h;
temp.parent = current;
map[temp.x][temp.y] = temp;
open.add(temp);
}
}
temp = GetEast(map, x, y);
if (temp != null && !temp.solid) {
if (!closed.contains(temp) && !open.contains(temp)) {
temp.g = current.g + 1;
temp.f = temp.g + temp.h;
temp.parent = current;
map[temp.x][temp.y] = temp;
open.add(temp);
}
}
temp = GetWest(map, x, y);
if (temp != null && !temp.solid) {
if (!closed.contains(temp) && !open.contains(temp)) {
temp.g = current.g + 1;
temp.f = temp.g + temp.h;
temp.parent = current;
map[temp.x][temp.y] = temp;
open.add(temp);
}
}
open.remove(current);
closed.add(current);
return current;
}
return null;
}