private LinkedList<Vector2f> astar(Field2D field, boolean flag) {
for (; pathes.size() > 0; ) {
ScoredPath spath = pathes.remove(0);
Vector2f current = spath.path.get(spath.path.size() - 1);
if (current.equals(goal)) {
return spath.path;
}
ArrayList<Vector2f> list = field.neighbors(current, flag);
int size = list.size();
for (int i = 0; i < size; i++) {
Vector2f next = list.get(i);
if (visitedCache.contains(next)) {
continue;
}
visitedCache.add(next);
if (!field.isHit(next) && !flying) {
continue;
}
LinkedList<Vector2f> path = new LinkedList<Vector2f>(spath.path);
path.add(next);
int score = spath.score + field.score(goal, next);
insert(score, path);
}
}
return null;
}
private LinkedList<Vector2f> calc(Field2D field, Vector2f start, Vector2f goal, boolean flag) {
if (start.equals(goal)) {
LinkedList<Vector2f> v = new LinkedList<Vector2f>();
v.add(start);
return v;
}
this.goal = goal;
if (visitedCache == null) {
visitedCache = new HashSet<Vector2f>();
} else {
visitedCache.clear();
}
if (pathes == null) {
pathes = new LinkedList<ScoredPath>();
} else {
pathes.clear();
}
visitedCache.add(start);
if (path == null) {
path = new LinkedList<Vector2f>();
} else {
path.clear();
}
path.add(start);
if (spath == null) {
spath = new ScoredPath(0, path);
} else {
spath.score = 0;
spath.path = path;
}
pathes.add(spath);
return astar(field, flag);
}