public void AddConnection(Cell cell)
{
_connections.Add(cell);
}
private float CheckToCellDistance(Cell cell, float currentMinDist, Vector3 position, ref Cell rezult)
{
var minDist = currentMinDist;
if (cell._type == CellType.USABLE) {
var dist = Vector3.Distance(cell._position, position);
if (minDist == -1) {
minDist = dist;
rezult = cell;
}
if (minDist > dist) {
minDist = dist;
rezult = cell;
}
}
return minDist;
}
private void InitializeCells()
{
for (int i = 0; i < _rowCount; i++) {
for (int j = 0; j < _colCount; j++) {
float cellPosX = cellSize / 2 + j * cellSize;
float cellPosZ = (_rowCount * cellSize) - (cellSize / 2 + i * cellSize);
var cellPos = new Vector3(cellPosX, 0, cellPosZ);
switch (Config.cells[i, j]) {
case 0:
_cells[i, j] = new Cell(CellType.UNUSABLE, cellPos);
break;
case 2:
_cells[i, j] = new Cell(CellType.USABLE, cellPos);
break;
}
}
}
}
private float CalculateBetweenCellDistance(Cell cell_1, Cell cell_2)
{
return Vector3.Distance(cell_1._position, cell_2._position);
}
public Vertex(Cell cell)
{
_cell = cell;
}
private bool IsPassable(Cell cell)
{
return cell._type == CellType.USABLE ? true : false;
}
private Vertex GetVertex(Cell cell)
{
return vertices.Find(x => x._cell == cell);
}
private Stack<Vector3> GetPath(Cell startCell, Cell targetCell)
{
SetVertices();
opened = new List<Vertex>();
closed = new List<Vertex>();
opened.Add(GetVertex(startCell));
var counter = 0;
while (opened.Count > 0 || counter > 20) {
counter++;
var currentVertex = GetMinDistVertexFromOpened();
opened.Remove(currentVertex);
closed.Add(currentVertex);
if (currentVertex._cell._position == targetCell._position) return BuildPath(currentVertex);
foreach (Cell connectionCell in currentVertex._cell.GetConnections()) {
var checkVertex = GetVertex(connectionCell);
if (!IsPassable(checkVertex._cell)) closed.Add(checkVertex);
if (closed.Contains(checkVertex) || opened.Contains(checkVertex)) continue;
checkVertex.g = 1;
checkVertex.h = CalculateBetweenCellDistance(checkVertex._cell, targetCell);
checkVertex.f = checkVertex.g + checkVertex.h;
checkVertex.parent = currentVertex;
opened.Add(checkVertex);
}
}
var targetVertex = GetMinDistVertexFromClosed();
return BuildPath(targetVertex);
return null;
}
