public PathFinderDijkstra(NodeDi start, NodeDi end)
{
Stopwatch sw = new Stopwatch();
sw.Start();
height = TileSetManager.height;
width = TileSetManager.width;
matrix = new NodeDi[height, width];
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
matrix[i, j] = TileSetManager.GetNodeDi(i, j);
matrix[i, j].isOpen = true;
}
}
pathList = new List <NodeDi>();
NodeDi node = DijkstrasAlgo(matrix[start.i, start.j], matrix[end.i, end.j]);
while (node != null)
{
pathList.Add(node);
node = node.parent;
}
pathList.Reverse();
sw.Stop();
time = (sw.ElapsedTicks / (float)Stopwatch.Frequency) * 1000;
}
public static NodeDi GetNodeDi(int i, int j)
{
if (i >= 0 && j >= 0)
{
if (j < width && i < height)
{
var type = tileMap[i, j].type;
var node = new NodeDi(i, j, type == 0 ? false : true);
return(node);
}
}
return(null);
}
public override bool Equals(object obj)
{
NodeDi node = obj as NodeDi;
if (node.i == i && node.j == j)
{
return(true);
}
else
{
return(false);
}
}
// возвращает соседей указанной ячейки (тайла)
private List <NodeDi> GetNeighbours(NodeDi node)
{
List <NodeDi> retList = new List <NodeDi>();
NodeDi[] temp = new NodeDi[] {
matrix[node.i - 1, node.j],
matrix[node.i + 1, node.j],
matrix[node.i, node.j - 1],
matrix[node.i, node.j + 1]
};
foreach (var retVal in temp)
{
if (retVal != null && retVal.isWalkable && retVal.isOpen)
{
retList.Add(retVal);
}
}
//UnityEngine.Debug.Log("nei count: " + retList.Count.ToString());
return(retList);
}
private NodeDi DijkstrasAlgo(NodeDi start, NodeDi end)
{
openList = new List <NodeDi>();
workList = new List <NodeDi>();
start.setWeight(0);
start.isOpen = false;
openList.Add(start);
while (openList.Count > 0)
{
int index = GetMinFNodeAS();
if (index < 0)
{
//UnityEngine.Debug.Log("index -1");
break;
}
NodeDi current = openList[index];
openList.RemoveAt(index);
workList.Add(current);
if (current.Equals(end))
{
return(current);
}
foreach (NodeDi neighNode in GetNeighbours(current))
{
float distance = Vector3.Distance(neighNode.getPosition(), current.getPosition());
distance = current.weight + distance;
neighNode.isOpen = false;
neighNode.setWeight(distance);
neighNode.setParentNode(current);
openList.Add(neighNode);
}
}
return(null);
}
// -------------------------------- Setters --------------------------------
public void setParentNode(NodeDi node)
{
parent = node;
}
public void resetNode()
{
weight = int.MaxValue;
parent = null;
}
