fix start/end nodes not being properly handled in algorithm with ChangeController

essentially, the start and end nodes were being marked as Seen and/or Expanded instead of as Start/End nodes. The end node was easy to correct, but the start node was difficult without messing with the algorithm's performance (potentially), so I opted for a dirtier but probably more performant measure by just removing the Change value type.

Paths/Assets/Scripts/Algorithms/AStar.cs

@@ -28,10 +28,8 @@ namespace Algorithms {
             ChangeController.AddChange(new Change(start.x, start.y, GridNodeType.Start, GridNodeType.Empty));
             ChangeController.AddChange(new Change(end.x, end.y, GridNodeType.End, GridNodeType.Empty));
 
-
-            var startNode = new Node(start, true);
-            var endNode = new Node(end, true);
-
+            Node startNode = _nodeGrid.Grid[start.x, start.y];
+            Node endNode = _nodeGrid.Grid[end.x, end.y];
 
             _path = new Stack<Node>();
             _openList = new List<Node>();
@@ -41,11 +39,12 @@ namespace Algorithms {
             Node current = startNode;
 
             // add start node to Open List
+            startNode.State = NodeState.Open;
             _openList.Add(startNode);
 
             while (_openList.Count != 0) {
-                current = _openList.First();
-                _openList.Remove(current);
+                current = _openList[0];
+                _openList.RemoveAt(0);
 
                 current.State = NodeState.Closed;
                 ChangeController.AddChange(new Change(
@@ -56,8 +55,6 @@ namespace Algorithms {
                 if (current.Position == endNode.Position)
                     break;
 
-                RecordState();
-
                 Node[] adjacentNodes = this._nodeGrid.GetAdjacentNodesArray(current);
                 for (int i = 0; i < adjacentNodes.Length; i++) {
                     Node node = adjacentNodes[i];
@@ -68,7 +65,8 @@ namespace Algorithms {
                         node.Cost = node.Weight + node.Parent.Cost;
 
                         node.State = NodeState.Open;
-                        ChangeController.AddChange(new Change(node.Position.x, node.Position.y, GridNodeType.Seen, GridNodeType.Empty));
+                        ChangeController.AddChange(new Change(node.Position.x, node.Position.y, GridNodeType.Seen,
+                            GridNodeType.Empty));
 
                         // Insert the new node into the sorted open list in ascending order
                         int index = _openList.BinarySearch(node);
@@ -83,12 +81,14 @@ namespace Algorithms {
                 return null;
             }
 
+            // Fix start position being overriden
+            ChangeController.RemovePositions(start, 1);
+
             // if all good, return path
             Node temp = _closedList[_closedList.IndexOf(current)];
             if (temp == null) return null;
             do {
                 _path.Push(temp);
-                RecordState();
                 temp = temp.Parent;
             } while (temp != null && !temp.Equals(startNode));
 

Paths/Assets/Scripts/Change.cs

@@ -12,4 +12,8 @@
         this.Old = oldType;
         this.Time = UnityEngine.Time.realtimeSinceStartup;
     }
+
+    public override string ToString() {
+        return $"Change({X}, {Y}, {Old} -> {New})";
+    }
 }

Paths/Assets/Scripts/ChangeController.cs

@@ -13,11 +13,12 @@ public class ChangeController {
     private readonly List<Change> _changes;
     public int Count => _changes.Count;
     public Change CurrentChange => _changes[Index];
+    public double CurrentRuntime => _changes[Index].Time - _changes[0].Time;
 
     public ChangeController(GridNodeType[,] initial) {
         _initial = initial;
         Current = initial;
-        Index = 0;
+        Index = -1;
         _changes = new List<Change>();
     }
 
@@ -104,4 +105,25 @@ public class ChangeController {
             else
                 Move(diff);
     }
+
+    /// <summary>
+    /// Removes all Change values referencing a specific position.
+    /// Intended for fixing start and end positions.
+    /// Works in reverse, i.e. count = 1 removes the last position if any.
+    /// </summary>
+    /// <param name="position">The Vector2Int position to look for.</param>
+    /// <param name="count">Maximum number of Change values to remove. -1 for all.</param>
+    public void RemovePositions(Vector2Int position, int count = -1) {
+        if (count == 0)
+            return;
+        
+        for (int i = _changes.Count - 1; i >= 0; i--)
+            if (_changes[i].X == position.x && _changes[i].Y == position.y) {
+                _changes.RemoveAt(i);
+                
+                // Return if the count is now zero.
+                if (--count == 0)
+                    return;
+            }
+    }
 }

Paths/Assets/Scripts/Manager.cs

@@ -13,7 +13,6 @@ public class Manager : MonoBehaviour {
     private ChangeController _state;
     private int _curIndex;
     private Stack<Node> _path;
-    private float _lastStart;
     private float _runtime;
 
     public Camera mainCamera;
@@ -45,16 +44,10 @@ public class Manager : MonoBehaviour {
         _runtime += increment;
 
         if (CurrentIndex < _state.Count)
-            this.LoadNextState();
+            LoadNextState();
         else {
-            try {
-                _lastStart = Time.realtimeSinceStartup;
             GeneratePath();
             CurrentIndex = 0;
-                // _curIndex = path != null && path.Count > 30 ? 0 : _states.Count;
-            }
-            catch (ArgumentOutOfRangeException) {
-            }
         }
     }
 
@@ -79,9 +72,8 @@ public class Manager : MonoBehaviour {
         _state.MoveTo(CurrentIndex);
         gridController.LoadGridState(_state.Current);
 
-        float change = _state.CurrentChange.Time - _lastStart;
         string pathCount = _path != null ? $"{_path.Count}" : "N/A";
-        debugText.text = $"{change * 1000.0:F1}ms\n" +
+        debugText.text = $"{_state.CurrentRuntime * 1000.0:F1}ms\n" +
                          $"{this.CurrentIndex:000} / {_state.Count:000}\n" +
                          $"Path: {pathCount} tiles";
     }