/// <summary>
/// Builds a new path between two given locations.
/// </summary>
/// <param name="startPos">The starting position.</param>
/// <param name="targetPos">The target position.</param>
/// <param name="testMode">Whether or not the algorithm is being run in testing mode, or if it is live within a map visualization.</param>
public override void Build(Coord2 startPos, Coord2 targetPos, bool testMode = false)
{
path = new List <Coord2>();
nodes = new NodeCollection(GridSize);
searchedNodes = 0;
this.start = nodes.Get(startPos);
this.target = nodes.Get(targetPos);
// Initialize bot position
nodes.Get(startPos).cost = 0;
bool firstLoop = true;
while (!target.closed)
{
if (firstLoop)
{
currentLowest = start;
firstLoop = false;
}
else
{
FindLowestCost(); // Find lowest cost
}
// Mark lowest cost as closed
currentLowest.closed = true;
map.SetRenderColor(currentLowest.position, CLOSED_COLOR);
// Find the neigbour positions
List <Node> neighbours = GetNeighours(currentLowest);
// Update visualization
UpdateVisualization(neighbours);
// Recalculate Costs
RecalculateCosts(neighbours, currentLowest);
// Update number of searched nodes
searchedNodes++;
}
// Trace the completed path, if target has been found
if (target.parent != null)
{
TracePath();
}
}
/// <summary>
/// Updates the visualization of the algorithm.
/// </summary>
private void UpdateVisualization()
{
int highestVal = HighestValue();
int lowestVal = LowestValue();
for (int x = 0; x < gridSize; x++)
{
for (int y = 0; y < gridSize; y++)
{
map.SetRenderColor(new Coord2(x, y), Color.Lerp(Color.White, scentColor, (float)buffer1.data[x, y] / (float)highestVal));
}
}
}
