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using UnityEngine;
using System.Collections;
using System.Collections.Generic;
using System;
 

public class AStar
{
    public class ANode : IComparable
    {
        public Vector3 Location { get; private set; }
        public int CostFromStart { get; private set; }
        public float CostToGoal { get; private set; }
        public ANode Parent { get; private set; }
 
        public ANode(Vector3 location)
        {
            this.Location = location;
        }
 
        public bool LocationEqual(ANode other)
        {
            if (other.Location == this.Location)
            {
                return true;
            }
            return false;
        }
        public int CompareTo(object other)
        {
            if ((other is ANode) == false) return 0;
            return CostFromStart.CompareTo((other as ANode).CostFromStart);
        }
 
        public void SetFromCost(int cost)
        {
            CostFromStart = cost;
        }
 
        public void SetToCost(float cost)
        {
            CostToGoal = cost;
        }
 
        public void SetParent(ANode node)
        {
            Parent = node;
        }
    }
 
    PriorityQueue<ANode> openList;
    List<ANode> closeList;
    ANode startNode;
    ANode goalNode;
 
    public AStar(Vector3 location, Vector3 destination)
    {
        openList = new PriorityQueue<ANode>();
        closeList = new List<ANode>();
        goalNode = new ANode(destination);
        startNode = new ANode(location);
        startNode.SetFromCost(0);
        startNode.SetToCost(PathCostEstimate(startNode));
        openList.Add(startNode);
        AddProximityNode(startNode);
 
        Clac();
    }
 
    private float PathCostEstimate(ANode node)
    {
        return Mathf.Pow(goalNode.Location.x - node.Location.x, 2) +
               Mathf.Pow(goalNode.Location.y - node.Location.y, 2);
    }
 
    public bool Clac()
    {
        while (openList.Count != 0 && openList.Count < 20000)
        {
            ANode node = openList.Pop();
            Debug.Log("Pos:" + node.Location + " FromCost:" + node.CostFromStart +
                      " ToCost:" + node.CostToGoal);
            if (goalNode.LocationEqual(node))
                return true;
            else
            {
                AddProximityNode(node);
            }
            closeList.Add(node);
 
        }
        Debug.Log(openList.Count);
        return false;
    }
 
    public void AddProximityNode(ANode center)
    {
        int tempX;
        int tempY;
        for (int x = -1; x < 2; x++)
        {
            if (x != 0)
            {
                tempX = (int)center.Location.x + x;
                tempY = (int)center.Location.y;
                if (tempX >= 0)
                {
                    if (TileLayer.instance.GetWalkable(tempX, tempY))
                    {
                        ANode node = new ANode(new Vector3(tempX, tempY));
                        node.SetFromCost(center.CostFromStart + 1);
                        node.SetToCost(PathCostEstimate(node));
                        node.SetParent(center);
                        openList.Add(node);
                    }
                }
            }
        }
        for (int y = -1; y < 2; y++)
        {
            if (y != 0)
            {
                tempX = (int)center.Location.x;
                tempY = (int)center.Location.y + y;
                if (tempY >= 0)
                {
                    if (TileLayer.instance.GetWalkable(tempX, tempY))
                    {
                        ANode node = new ANode(new Vector3(tempX, tempY));
                        node.SetFromCost(center.CostFromStart + 1);
                        node.SetToCost(PathCostEstimate(node));
                        node.SetParent(center);
                        openList.Add(node);
                    }
                }
            }
        }
    }
 
}
 
 
cs


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