void Start()
{
// Get map points
for (int i = 0; i < nav_map_points_parent.transform.childCount; i++)
{
GameObject current_point_go = nav_map_points_parent.transform.GetChild(i).gameObject;
NavigationPoint np = current_point_go.GetComponent <NavigationPoint>();
np.nav_map = this;
List <GameObject> nb = np.GetNeighbours();
for (int y = 0; y < nb.Count; y++)
{
NavigationPoint npn = nb[y].GetComponent <NavigationPoint>();
if (!npn.IsNeighbour(current_point_go))
{
npn.AddBeighbour(current_point_go);
}
}
points.Add(current_point_go);
}
grid = TransformMapToGrid(GetPoints(), size_x, size_y);
}
public List <GameObject> GetPointsFromExpansion(int iterations, GameObject starting_point)
{
int iterations_count = 0;
List <GameObject> memory_points = new List <GameObject>();
if (IsPoint(starting_point))
{
List <GameObject> frontier = new List <GameObject>();
frontier.Add(starting_point);
while (frontier.Count != 0)
{
memory_points.Add(frontier[0]);
NavigationPoint np = frontier[0].GetComponent <NavigationPoint>();
List <GameObject> neigh = np.GetNeighbours();
if (iterations_count < iterations)
{
iterations_count++;
for (int y = 0; y < neigh.Count; y++)
{
bool exists = false;
for (int z = 0; z < memory_points.Count; z++)
{
if (memory_points[z] == neigh[y])
{
exists = true;
break;
}
}
if (!exists)
{
frontier.Add(neigh[y]);
}
}
}
frontier.RemoveAt(0);
}
}
return(memory_points);
}
public List <Vector3> GetPath(GameObject starting_point, GameObject ending_point)
{
List <Vector3> ret = new List <Vector3>();
if (IsPoint(starting_point) && IsPoint(ending_point))
{
// Expand --------- (BFS)
List <PPoint> frontier = new List <PPoint>();
List <PPoint> memory_points = new List <PPoint>();
PPoint point = new PPoint();
point.point = starting_point;
frontier.Add(point);
while (frontier.Count > 0)
{
memory_points.Add(frontier[0]);
if (frontier[0].point == ending_point)
{
break;
}
NavigationPoint np = frontier[0].point.GetComponent <NavigationPoint>();
List <GameObject> neigh = np.GetNeighbours();
for (int i = 0; i < neigh.Count; i++)
{
PPoint npoint = new PPoint();
npoint.parent = frontier[0].point;
npoint.point = neigh[i];
bool exists = false;
for (int y = 0; y < memory_points.Count; y++)
{
if (memory_points[y].point == npoint.point)
{
exists = true;
break;
}
}
if (!exists)
{
frontier.Add(npoint);
}
}
frontier.RemoveAt(0);
}
// ----------------
// Backtrack ------
PPoint curr_point = memory_points[memory_points.Count - 1];
while (memory_points.Count > 0)
{
ret.Add(curr_point.point.transform.position);
if (curr_point.point == starting_point)
{
Debug.Log("Pathfinding finished correctly");
break;
}
memory_points.RemoveAt(memory_points.Count - 1);
for (int i = 0; i < memory_points.Count; i++)
{
if (memory_points[i].point == curr_point.parent)
{
curr_point = memory_points[i];
break;
}
}
}
// ----------------
}
return(ret);
}
