private NodeComponent GetMinNode(List <NodeComponent> open)
{
NodeComponent candidate = null;
HeuristicNodeInfo currNodeInfo = null;
float minCost = float.MaxValue;
foreach (var node in open)
{
currNodeInfo = node.NodeInfo as HeuristicNodeInfo;
if (candidate == null || minCost > currNodeInfo.estimatedTotalCost)
{
candidate = node;
minCost = currNodeInfo.estimatedTotalCost;
}
}
Debug.Log(minCost);
return(candidate);
}
private void ProcessConnection(NodeComponent goal, List <NodeComponent> open,
NodeComponent fromNode, Connection connection)
{
var toNode = connection.To;
var toNodeInfo = toNode.NodeInfo as HeuristicNodeInfo;
HeuristicNodeInfo newNodeInfo = new HeuristicNodeInfo(
connection, Mathf.Infinity, fromNode.NodeInfo.costSoFar + connection.Cost);
float endNodeHeuristic;
if (toNodeInfo.category == Category.Closed)
{
//If the node is closed, we need to update its cost
//only when it is greater then the one of the current path
//we also need to add the node again on the open list, because we should
//update its neighbors
if (toNodeInfo.costSoFar > newNodeInfo.costSoFar)
{
newNodeInfo.category = Category.Open;
open.Add(toNode);
toNode.NodeInfo = GetUpdateNodeInfo(toNodeInfo, newNodeInfo);
}
}
else if (toNodeInfo.category == Category.Open)
{
//If the node is opened, we should update its cost
//only when it is greater then the one of the current path
if (toNodeInfo.costSoFar > newNodeInfo.costSoFar)
{
toNode.NodeInfo = GetUpdateNodeInfo(toNodeInfo, newNodeInfo);
}
}
else
{
//the node is unvisited: we calculate its heuristic and add it
//to the open list
endNodeHeuristic = heuristicFuncDict[heuristicType](toNode, goal);
newNodeInfo.estimatedTotalCost = newNodeInfo.costSoFar + endNodeHeuristic;
newNodeInfo.category = Category.Open;
toNode.NodeInfo = newNodeInfo;
open.Add(toNode);
}
}
private HeuristicNodeInfo GetUpdateNodeInfo(HeuristicNodeInfo oldNodeInfo, HeuristicNodeInfo newNodeInfo)
{
newNodeInfo.estimatedTotalCost = newNodeInfo.costSoFar +
(oldNodeInfo.estimatedTotalCost - oldNodeInfo.costSoFar); //the heuristic is already calculated
return(newNodeInfo);
}
