public Path(
PathManager pathManager,
GameObject movingObject,
Vector2 source,
Vector2 destination,
List <int> pathNodeIndices,
SparseGraph graph)
{
PathEdgeList = new List <PathEdge>();
Source = source;
Destination = destination;
PathManager = pathManager;
MovingObject = movingObject;
int fromNodeIndex = -1;
int toNodeIndex = -1;
Node fromNode = null;
Node toNode = null;
Edge currentEdge = null;
Vector2 from = source;
foreach (int nodeIndex in pathNodeIndices)
{
fromNodeIndex = toNodeIndex;
toNodeIndex = nodeIndex;
fromNode = toNode;
toNode = graph.GetNode(nodeIndex);
Vector2 to = toNode.Position;
if (from == to)
{
// this could happen when source is exactly on a node
// position. In this case, skip this redundant edge
continue;
}
if (fromNodeIndex != -1 && toNodeIndex != -1)
{
currentEdge = graph.GetEdge(fromNodeIndex, toNodeIndex);
}
PathEdgeList.Add(new PathEdge(from, to, fromNode, toNode, currentEdge, PathManager, MovingObject));
from = to; // copy
}
if (from != destination)
{
PathEdgeList.Add(new PathEdge(from, destination, toNode, null, null, PathManager, MovingObject));
}
}
public Path(
PathManager pathManager,
GameObject movingObject,
Vector2 source,
Vector2 destination,
List<int> pathNodeIndices,
SparseGraph graph)
{
PathEdgeList = new List<PathEdge>();
Source = source;
Destination = destination;
PathManager = pathManager;
MovingObject = movingObject;
int fromNodeIndex = -1;
int toNodeIndex = -1;
Node fromNode = null;
Node toNode = null;
Edge currentEdge = null;
Vector2 from = source;
foreach (int nodeIndex in pathNodeIndices)
{
fromNodeIndex = toNodeIndex;
toNodeIndex = nodeIndex;
fromNode = toNode;
toNode = graph.GetNode(nodeIndex);
Vector2 to = toNode.Position;
if (from == to)
{
// this could happen when source is exactly on a node
// position. In this case, skip this redundant edge
continue;
}
if (fromNodeIndex != -1 && toNodeIndex != -1)
{
currentEdge = graph.GetEdge(fromNodeIndex, toNodeIndex);
}
PathEdgeList.Add(new PathEdge(from, to, fromNode, toNode, currentEdge, PathManager, MovingObject));
from = to; // copy
}
if (from != destination)
{
PathEdgeList.Add(new PathEdge(from, destination, toNode, null, null, PathManager, MovingObject));
}
}
public AStarSearch(SparseGraph graph, int source, int target)
{
Graph = graph;
Source = source;
Target = target;
ShortestPathTree = new List<Edge>(Graph.NumNodes);
SearchFrontier = new List<Edge>(Graph.NumNodes);
GCosts = new List<float>(Graph.NumNodes);
FCosts = new List<float>(Graph.NumNodes);
for (int i = 0; i < graph.NumNodes; i++)
{
ShortestPathTree.Add(null);
SearchFrontier.Add(null);
GCosts.Add(0);
FCosts.Add(0);
}
Search(EuclideanDistance);
}
public AStarSearch(SparseGraph graph, int source, int target)
{
Graph = graph;
Source = source;
Target = target;
ShortestPathTree = new List <Edge>(Graph.NumNodes);
SearchFrontier = new List <Edge>(Graph.NumNodes);
GCosts = new List <float>(Graph.NumNodes);
FCosts = new List <float>(Graph.NumNodes);
for (int i = 0; i < graph.NumNodes; i++)
{
ShortestPathTree.Add(null);
SearchFrontier.Add(null);
GCosts.Add(0);
FCosts.Add(0);
}
Search(EuclideanDistance);
}
/// <summary>
/// Calculate the straight line distance from node nd1 to node nd2.
/// </summary>
/// <param name="graph">The search graph.</param>
/// <param name="nd1">The first node index.</param>
/// <param name="nd2">The second node index.</param>
/// <returns>The straight line distance from node nd1 to node nd2.</returns>
public static float EuclideanDistance(SparseGraph graph, int nd1, int nd2)
{
return (graph.GetNode(nd1).Position - graph.GetNode(nd2).Position).magnitude;
}
/// <summary>
/// Calculate the straight line distance from node nd1 to node nd2.
/// </summary>
/// <param name="graph">The search graph.</param>
/// <param name="nd1">The first node index.</param>
/// <param name="nd2">The second node index.</param>
/// <returns>The straight line distance from node nd1 to node nd2.</returns>
public static float EuclideanDistance(SparseGraph graph, int nd1, int nd2)
{
return((graph.GetNode(nd1).Position - graph.GetNode(nd2).Position).magnitude);
}
