private List<Cell> findEnemyPath(Enemy enemy) {
for(int i = 0; i < GRID_HEIGHT; i++) {
for(int j = 0; j < GRID_WIDTH; j++) {
grid[i][j].parent = null;
grid[i][j].start = false;
grid[i][j].goal = false;
}
}
List<Cell> openList = new ArrayList<Cell>();
List<Cell> closedList = new ArrayList<Cell>();
List<Cell> bestList = new ArrayList<Cell>();
int width = (int)Math.floor(enemy.position.x);
int height = (int)Math.floor(enemy.position.y);
width = (width < 0) ? 0 : width;
height = (height < 0) ? 0 : height;
Log.d("findEnemyPath, enemy X:Y", "X"+enemy.position.x+":"+"Y"+enemy.position.y);
Log.d("findEnemyPath, grid X:Y", "X"+height+":"+"Y"+width);
Cell start = grid[height][width];
Cell goal = grid[ENEMY_GOAL_HEIGHT][ENEMY_GOAL_WIDTH];
if(start.id != goal.id) {
Log.d("START CELL ID: ", ""+start.id);
Log.d("GOAL CELL ID: ", ""+goal.id);
//Log.d("findEnemyPath, grid X:Y", "X"+start.position.x+":"+"Y"+start.position.y);
start.start = true;
goal.goal = true;
openList.add(start);
while(openList.size() > 0) {
Cell best = findBestPassThrough(openList, goal);
//Log.d("ID:", ""+best.id);
openList.remove(best);
closedList.add(best);
if (best.goal) {
System.out.println("Found Goal");
System.out.println(bestList.size());
populateBestList(goal, bestList);
/*
for(Cell cell : bestList) {
Log.d("ID:", ""+cell.id);
Log.d("ParentID:", ""+cell.parent.id);
}
*/
Collections.reverse(bestList);
Cell exit = new Cell(13.5f, 3.5f, 1, 1);
exit.isExit = true;
bestList.add(exit);
//Log.d("PathList", "Enemy ID : " + enemy.id);
return bestList;
}
else {
List<Cell> neighbors = getNeighbors(best);
for (Cell neighbor : neighbors) {
if(neighbor.isTower) {
continue;
}
if (openList.contains(neighbor)) {
Cell tmpCell = new Cell(neighbor.position.x, neighbor.position.y, 1, 1);
tmpCell.parent = best;
if (tmpCell.getPassThrough(goal) >= neighbor.getPassThrough(goal)) {
continue;
}
}
if (closedList.contains(neighbor)) {
Cell tmpCell = new Cell(neighbor.position.x, neighbor.position.y, 1, 1);
tmpCell.parent = best;
if (tmpCell.getPassThrough(goal) >= neighbor.getPassThrough(goal)) {
continue;
}
}
Log.d("Neighbor's Parent: ", ""+best.id);
neighbor.parent = best;
openList.remove(neighbor);
closedList.remove(neighbor);
openList.add(0, neighbor);
}
}
}
}
Log.d("Cannot find a path", "");
return null;
}
public double getPassThrough(Cell goal) {
if (start) {
return 0.0;
}
return getLocalCost(goal) + getParentCost();
}
enter
public codedouble heregetLocalCost(Cell goal) {
if (start) {
return 0.0;
}
localCost = 1.0 * (Math.abs(this.position.x - goal.position.x) + Math.abs(this.position.y - goal.position.y));
return localCost;
}
public double getParentCost() {
if (start) {
return 0.0;
}
if (parentCost == 0.0) {
parentCost = 1.0 + .5 * (parent.getParentCost() - 1.0);
}
return parentCost;
}
