private void ApplyDijkstra(NavigationGraphNode node)
{
Open.Initialize();
Closed.Initialize();
var currentNode = node;
GoalBoundingRecord currentNodeRecord = new GoalBoundingRecord(null, currentNode, null);
Closed.AddToClosed(currentNodeRecord);
int outConnections = currentNode.OutEdgeCount;
if (outConnections <= 0)
{
return;
}
int numOfBB = outConnections > maxNumberOfBoundingBoxes ? maxNumberOfBoundingBoxes : outConnections;
boundingBoxes[currentNode.NodeIndex] = new List<BoundingBox>(new BoundingBox[numOfBB]);
for (int j = 0; j < numOfBB; j++)
{
boundingBoxes[currentNode.NodeIndex][j] = new BoundingBox();
NavigationGraphNode neighborNode = currentNode.EdgeOut(j).ToNode;
Open.AddToOpen(new GoalBoundingRecord(currentNodeRecord, neighborNode, boundingBoxes[currentNode.NodeIndex][j]));
}
while (Open.CountOpen() > 0)
{
processedNodes++;
var currentRecord = Open.GetBestAndRemove();
Closed.AddToClosed(currentRecord);
//needs a function to get adjacent nodes
// NavMeshNode
outConnections = currentRecord.Location.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
DummyRecord.Location = currentRecord.Location.EdgeOut(i).ToNode;
DummyRecord.Distance = GoalBoundingRecord.CalculateDistance(currentRecord, DummyRecord);
GoalBoundingRecord neighborRecord = null;
neighborRecord = Closed.SearchInClosed(DummyRecord);
if (neighborRecord != null)
{
//if (neighborRecord.Distance >= DummyRecord.Distance)
// Closed.RemoveFromClosed(neighborRecord);
//else
continue;
}
else
{
neighborRecord = Open.SearchInOpen(DummyRecord);
if (neighborRecord != null)
{
if (neighborRecord.Distance > DummyRecord.Distance)
{
neighborRecord.UpdatePrevious(currentRecord);
}
continue;
}
else
{
neighborRecord = new GoalBoundingRecord();
neighborRecord.Location = DummyRecord.Location;
}
}
neighborRecord.UpdatePrevious(currentRecord);
Open.AddToOpen(neighborRecord);
}
}
}
private void ApplayDijkstraAll()
{
if (navMesh != null)
{
nodes = GetNodesHack(navMesh);
if (useNodeRecordArray)
{
Debug.Log("UsingNodeRecordArray");
recordArray = new NodeRecordArray<NavigationGraphNode, GoalBoundingRecord>(nodes);
Open = recordArray;
Closed = recordArray;
}
else
{
Debug.Log("NotUsingNodeRecordArray");
Open = new LeftPriorityList<GoalBoundingRecord>();
Closed = new ClosedDictionary<NavigationGraphNode, GoalBoundingRecord>();
}
DummyRecord = new GoalBoundingRecord();
float runningTime = Time.realtimeSinceStartup;
boundingBoxes = new List<List<BoundingBox>>(new List<BoundingBox>[nodes.Count]);
for (int i = 0; i < nodes.Count; i++)
{
nodes[i].NodeIndex = i;
}
for (int k = 0; k < nodes.Count; k++)
{
if (useNodeRecordArray)
{
ApplyDijkstraNodeArray(nodes[k]);
}
else
{
ApplyDijkstra(nodes[k]);
}
ICollection<GoalBoundingRecord> closed = Closed.All();
foreach (GoalBoundingRecord record in closed)
{
if (record.OriginBoundingBox != null)
{
record.OriginBoundingBox.Update(record.Location.Position);
}
}
if (boundingBoxes[k] != null)
{
foreach (BoundingBox boundingBox in boundingBoxes[k])
{
boundingBox.Update(nodes[k].Position);
}
}
PrintTimeFunc(k, Time.realtimeSinceStartup - runningTime);
}
//last print
Debug.Log("Nodes: " + nodes.Count + " Processing time: " + (Time.realtimeSinceStartup - runningTime) + " s");
}
}
