private static bool isNodeInOpen (node node)
{
int fCost = node.fCost;
List<node> nodeList = null;
if (open.TryGetValue (fCost, out nodeList)) {
if (nodeList.Contains (node)) {
return true;
}
}
return false;
}
private static void addNodeToOpen (node node)
{
int fCost = node.fCost;
List<node> nodeList = null;
if (open.TryGetValue (fCost, out nodeList)) {
nodeList.Add (node);
open [fCost] = nodeList;
} else {
nodeList = new List<node> ();
nodeList.Add (node);
open.Add (fCost, nodeList);
}
}
private static void removeNodeFromOpen (node node)
{
int fCost = node.fCost;
List<node> nodeList = null;
if (open.TryGetValue (fCost, out nodeList)) {
nodeList.RemoveAt (0);
if (nodeList.Count == 0) {
open.Remove (fCost);
} else {
open [fCost] = nodeList;
}
}
}
public node (Vector3 Position, bool Walkable, int HCost=int.MaxValue, int GCost=int.MaxValue, node Parent=null)
{
pos = Position;
walkable = Walkable;
hCost = HCost;
gCost = GCost;
parent = Parent;
}
private static List<node> getNeighbours (node n, Vector3 Origin, Vector3 Target)
{
List<node> nList = new List<node> ();
Vector3 tPos = n.pos;
//
for (int y =-1; y<= 1; y++) {
for (int x =-1; x<= 1; x++) {
for (int z =-1; z<= 1; z++) {
int ny = (int)tPos.y + y;
int nx = (int)tPos.x + x;
int nz = (int)tPos.z + z;
if (ny < 0 || ny > GridHeight)
continue;
if (nx < 0 || nx > GridWidth)
continue;
if (nz < 0 || nz > GridDepth)
continue;
if (y == 0 && x == 0 && z == 0)
continue;
//Debug.Log (new Vector3(x,y,z));
node curNode = null;
Grid.TryGetValue (new Vector3 (nx, ny, nz), out curNode);
if (curNode != null) {
nList.Add (curNode);
//Debug.Log (nList[nList.Count-1].gCost);
}
}
}
}
//Debug.Log ("");
return nList;
}
private static List<node> getPathFromNode (node Node)
{
node curNode = Node;
List<node> list = new List<node> ();
while (curNode.parent !=null) {
list.Insert (0, curNode);
//Debug.Log (curNode.pos);
curNode = curNode.parent;
}
return list;
}
