private void Start()
{
sortingAlgorithm = new SortingAlgorithm <int>();
binaryPile = new BinaryPile <int>();
sortingAlgorithm.sortingOrder = SortingOrder.ascendant;
for (int i = 0; i < 20; i++)
{
binaryPile.Add(Random.Range(0, 100));
}
}
public PathfindingNode GeneratePath(PathfindingNode start, PathfindingNode destination, PathfindingGraph graph, out bool pathExists)
{
graph.SetDestination(destination);
graph.UpdateNodeDistances();
PathfindingNode current = start;
BinaryPile <PathfindingNode> openNodes = new BinaryPile <PathfindingNode>();
BinaryPile <PathfindingNode> closedNodes = new BinaryPile <PathfindingNode>();
current.Weight = 0;
do
{
foreach (PathfindingNode node in current.Connections)
{
float dist = Vector3.Distance(current.Position, node.Position);
if (openNodes.Contains(node) || closedNodes.Contains(node))
{
if (node.Weight > current.Weight + dist)
{
node.Parent = current;
}
}
else
{
node.Parent = current;
openNodes.Add(node);
}
}
closedNodes.Add(current);
current = openNodes.TakeFirst();
if (current.IsDestination)
{
pathExists = true;
return(current);
}
} while (openNodes.Count > 0);
pathExists = false;
return(closedNodes.FirstElement);
}
