//param point arrivee, point depart, graphe de visibilite (point et voisin)
public List <Vector3> DijkstraFindPath(Vector3 origin, Vector3 dest)
{
front = new List <GraphNode>();
visitedNodes = new List <GraphNode>();
//Ajouter arrivee et fin dans le graphe
originNode = new GraphNode(origin.x, origin.z);
destNode = new GraphNode(dest.x, dest.z);
visibilityGraph = visibilityGraphObject.GetComponent <VisibilityGraph>();
visibilityGraph.AddNodesToCalculate(originNode, destNode);
List <GraphNode> graph = visibilityGraph.GetNodeList();
//setup des nodes
foreach (GraphNode n in graph)
{
n.Distance = float.PositiveInfinity;
n.Parent = null;
}
//ajoute premier point dans pile frontier
originNode.Distance = 0;
front.Add(originNode);
GraphNode current = originNode;
//Rouler tant que frontier n'est pas vide
while (front.Count != 0)
{
current = front[0];
if (current == destNode)
{
return(BuildPath());
}
//pour chaque voisin, l'ajouter dans frontier si non visite
List <GraphNode> neighbours = current.GetNeighbours();
foreach (GraphNode neighbour in neighbours)
{
if (!visitedNodes.Contains(neighbour))
{
if (!front.Contains(neighbour))
{
front.Add(neighbour);
}
float currentDistance = neighbour.calculateEuclidianDistance(current) + current.Distance;
if (neighbour.Distance > currentDistance)
{
neighbour.Distance = currentDistance;
neighbour.Parent = current;
}
}
}
front = front.OrderBy(x => x.Distance).ToList();
front.Remove(current);
visitedNodes.Add(current);
}
return(new List <Vector3>());
}