Edge_IA CalcMinorPath()// retorna a direção do edge cuja proximidade baseada na heuristica + pese é menor do target
{
if (LocalNodePos.EdgesColection().Count == 0)
{
Debug.Log("ERROR_On_CalcMinorPath()"); return(null);
}
List <Edge_IA> edges_in_node = LocalNodePos.EdgesColection();
float minor_value = edges_in_node[0].Weight + CalcHeuristic(Target.transform.position, edges_in_node[0].OtherPeerNode(LocalNodePos));
Edge_IA Edge_to_move = edges_in_node[0];
foreach (Edge_IA e in edges_in_node)//atualiza minor value com o menor valor de edge_weigths
{
float w = e.Weight;
float h = CalcHeuristic(Target.transform.position, e.OtherPeerNode(LocalNodePos));
if ((w + h) < minor_value)
{
minor_value = (w + h);
Edge_to_move = e;
}
}
ValidateEdgeAVL(Edge_to_move);
if (TintEdges)
{
tintEdge(Edge_to_move);
}
return(Edge_to_move);
}
public void MoveAgent()
{
Edge_IA e = CalcMinorPath();
New_Node_IA n = e.OtherPeerNode(LocalNodePos);
myBoid.GoTo(n);
}
public void MoveAgent(New_Node_IA myTarget)
{
Target = myTarget;
Edge_IA e = CalcMinorPath();
New_Node_IA n = e.OtherPeerNode(LocalNodePos);
myBoid.GoTo(n);
}
public void tintEdge(Edge_IA e)// colore o edge de
{
if (e == null)
{
Debug.Log("ERROR_On_tintEdge()"); return;
} //se for nullo não pinta o edge
//colore o edge:
e.GetComponent <MeshRenderer>().material =
this.gameObject.GetComponent <MeshRenderer>().material;
}
void ValidateEdgeAVL(Edge_IA e)
{
AVL.Node_AVL_Tree NAT = tree.Find(e.GetEdgeAvlID());
if (NAT == null)
{
e.Weight += 1;
tree.Add(e);
}
else
{
NAT.Edge_From_Grid.Weight += 1;
}
}
public void Add(/*int data,*/ Edge_IA e)
{
Node_AVL_Tree newItem = new Node_AVL_Tree(/*data,*/ e);
if (root == null)
{
root = newItem;
}
else
{
root = RecursiveInsert(root, newItem);
}
}
public void GenerateEdges()// gera os edges apartir dos nodes vizinhos (PS: esse método só pode ser chamado após todos nodes já estarem criados)
{
if (NorteNode != null && NorteNode.imReachable && imReachable && NorteNode.SulEdge == null)
{
GameObject aux_e = (Instantiate(grid_Generator.Edge, this.transform.position, Quaternion.LookRotation(transform.position, NorteNode.transform.position)) as GameObject); aux_e.gameObject.transform.parent = grid_Generator.Edges_Controller.transform; NorteEdge = aux_e.GetComponent <Edge_IA>(); NorteNode.SulEdge = aux_e.GetComponent <Edge_IA>(); NorteEdge.Init(this, NorteNode); /*NorteEdge.EdgeDirection = 8;*/
}
if (NE_Node != null && NE_Node.imReachable && imReachable && NE_Node.SO_Edge == null)
{
GameObject aux_e = (Instantiate(grid_Generator.Edge, this.transform.position, Quaternion.LookRotation(transform.position, NE_Node.transform.position)) as GameObject); aux_e.gameObject.transform.parent = grid_Generator.Edges_Controller.transform; NE_Edge = aux_e.GetComponent <Edge_IA>(); NE_Node.SO_Edge = aux_e.GetComponent <Edge_IA>(); NE_Edge.Init(this, NE_Node); NE_Edge.Weight = 1.4f; /*NE_Edge.EdgeDirection = 9;*/
}
if (LesteNode != null && LesteNode.imReachable && imReachable && LesteNode.OesteEdge == null)
{
GameObject aux_e = (Instantiate(grid_Generator.Edge, this.transform.position, Quaternion.LookRotation(transform.position, LesteNode.transform.position)) as GameObject); aux_e.gameObject.transform.parent = grid_Generator.Edges_Controller.transform; LesteEdge = aux_e.GetComponent <Edge_IA>(); LesteNode.OesteEdge = aux_e.GetComponent <Edge_IA>(); LesteEdge.Init(this, LesteNode); /*LesteEdge.EdgeDirection = 6;*/
}
if (SE_Node != null && SE_Node.imReachable && imReachable && SE_Node.NO_Edge == null)
{
GameObject aux_e = (Instantiate(grid_Generator.Edge, this.transform.position, Quaternion.LookRotation(transform.position, SE_Node.transform.position)) as GameObject); aux_e.gameObject.transform.parent = grid_Generator.Edges_Controller.transform; SE_Edge = aux_e.GetComponent <Edge_IA>(); SE_Node.NO_Edge = aux_e.GetComponent <Edge_IA>(); SE_Edge.Init(this, SE_Node); SE_Edge.Weight = 1.4f; /*SE_Edge.EdgeDirection = 3;*/
}
if (SulNode != null && SulNode.imReachable && imReachable && SulNode.NorteEdge == null)
{
GameObject aux_e = (Instantiate(grid_Generator.Edge, this.transform.position, Quaternion.LookRotation(transform.position, SulNode.transform.position)) as GameObject); aux_e.gameObject.transform.parent = grid_Generator.Edges_Controller.transform; SulEdge = aux_e.GetComponent <Edge_IA>(); SulNode.NorteEdge = aux_e.GetComponent <Edge_IA>(); SulEdge.Init(this, SulNode); /*SulEdge.EdgeDirection = 2;*/
}
if (SO_Node != null && SO_Node.imReachable && imReachable && SO_Node.NE_Edge == null)
{
GameObject aux_e = (Instantiate(grid_Generator.Edge, this.transform.position, Quaternion.LookRotation(transform.position, SO_Node.transform.position)) as GameObject); aux_e.gameObject.transform.parent = grid_Generator.Edges_Controller.transform; SO_Edge = aux_e.GetComponent <Edge_IA>(); SO_Node.NE_Edge = aux_e.GetComponent <Edge_IA>(); SO_Edge.Init(this, SO_Node); SO_Edge.Weight = 1.4f; /*SO_Edge.EdgeDirection = 1;*/
}
if (OesteNode != null && OesteNode.imReachable && imReachable && OesteNode.LesteEdge == null)
{
GameObject aux_e = (Instantiate(grid_Generator.Edge, this.transform.position, Quaternion.LookRotation(transform.position, OesteNode.transform.position)) as GameObject); aux_e.gameObject.transform.parent = grid_Generator.Edges_Controller.transform; OesteEdge = aux_e.GetComponent <Edge_IA>(); OesteNode.LesteEdge = aux_e.GetComponent <Edge_IA>(); OesteEdge.Init(this, OesteNode); /*OesteEdge.EdgeDirection = 4;*/
}
if (NO_Node != null && NO_Node.imReachable && imReachable && NO_Node.SE_Edge == null)
{
GameObject aux_e = (Instantiate(grid_Generator.Edge, this.transform.position, Quaternion.LookRotation(transform.position, NO_Node.transform.position)) as GameObject); aux_e.gameObject.transform.parent = grid_Generator.Edges_Controller.transform; NO_Edge = aux_e.GetComponent <Edge_IA>(); NO_Node.SE_Edge = aux_e.GetComponent <Edge_IA>(); NO_Edge.Init(this, NO_Node); NO_Edge.Weight = 1.4f; /*NO_Edge.EdgeDirection = 7;*/
}
if (EdgesColection() != null)
{
generated_edges = true;
}
nameEdges();
}
public Node_AVL_Tree(/*int data, */ Edge_IA e)
{
this.data = e.GetEdgeAvlID();
this.Edge_From_Grid = e;
}
