public DStarLiteAlgorithm(GridMarkerController gridMarkerController, IVertexOperations positionResolver, IHeuristicEstimate heuristicEstimate, float timeDelay = 1.0f, float moveTimeDelay = 1.0f)
{
this.gridMarkerController = gridMarkerController;
this.heuristicEstimate = heuristicEstimate;
this.positionResolver = positionResolver;
this.timeDelay = timeDelay;
this.moveTimeDelay = moveTimeDelay;
}
public void StratPathFindinAlgorithm()
{
pathFind.interactable = false;
resetCurrentPath.interactable = true;
clearAll.interactable = true;
gridController.PathGridState = PathGridState.PathFind;
gridController.InitGraf();
Vector2Int goalPosition = new Vector2Int(gridController.GoalPos.x, gridController.GoalPos.y);
Vector2Int startPosition = new Vector2Int(gridController.StartPos.x, gridController.StartPos.y);
IHeuristicEstimate heuristic = HeuristicFactory.СreateHeuristic(heuristicType, breakerType, startPosition, float.Parse(heuristicCoeffField.text));
float timeDelay = float.Parse(delayBeforeSteps.text);
AStarAlgorithm algorithm = new AStarAlgorithm(gridMarkerController, heuristic, timeDelay);
pathFindingAlgorithmCoroutine = StartCoroutine(algorithm.FindPath(gridController.GetStartVertex(), gridController.GetGoalVertex()));
}
public void StratPathFindinAlgorithm()
{
OnPathSearchState();
gridController.InitGraf();
Vector2Int goalPosition = new Vector2Int(gridController.GoalPos.x, gridController.GoalPos.y);
Vector2Int startPosition = new Vector2Int(gridController.StartPos.x, gridController.StartPos.y);
IHeuristicEstimate heuristic = HeuristicFactory.СreateHeuristic(HeuristicType.Manhattan, TieBreakerType.None, startPosition, 1);
float timeDelay = float.Parse(delayBeforeSteps.text);
float moveTimeDelay = float.Parse(delayBeforeMove.text);
DStarLiteAlgorithm algorithm = new DStarLiteAlgorithm(gridMarkerController, gridController.Graph, heuristic, timeDelay);
gridController.OnVerteciesUpdate = (vertecies) => { vertecies.ForEach(v => algorithm.UpdatePath(v)); };
pathFindingAlgorithmCoroutine = StartCoroutine(algorithm.MoveByPath(gridController.GetStartVertex(), gridController.GetGoalVertex(), OnPathSearchState, OnStartMove));
}
public AStarAlgorithm(GridMarkerController gridMarkerController, IHeuristicEstimate heuristic, float sleepTime = 0.1f)
{
this.gridMarkerController = gridMarkerController;
this.sleepTime = sleepTime;
this.heuristic = heuristic;
}