public HeuristicD(GenerateGraph graph)
{
heuristicCost = new Dictionary <Node, float>();
//itemList = new List<GameObject> ();
//GameObject item = GameObject.Find ("Item1");
//itemList.Add (item);
PriorityQueue <Node> pq = new PriorityQueue <Node>(graph.Size());
Dictionary <Node, float> cost_so_far = new Dictionary <Node, float> ();
pq.queue(0.0f, graph.endNode);
cost_so_far.Add(graph.endNode, 0.0f);
while (pq.getSize() > 0)
{
Node current = pq.dequeue();
heuristicCost[current] = cost_so_far[current];
for (int i = 0; i < current.neighbors.Count; i++)
{
float new_cost = cost_so_far[current] + Node.distanceBetweenNodes(current, current.neighbors[i]);
if (!cost_so_far.ContainsKey(current.neighbors[i]) || new_cost < cost_so_far[current.neighbors[i]])
{
cost_so_far[current.neighbors[i]] = new_cost;
pq.queue(new_cost, current.neighbors[i]);
}
}
}
}
public static List <Node> GetPath(Vector3 start)
{
Node startNode = graph.getClosestNode(start);
PriorityQueue <Node> open = new PriorityQueue <Node>(graph.Size());
HashSet <Node> closed = new HashSet <Node>();
Dictionary <Node, Node> came_from = new Dictionary <Node, Node>();
Dictionary <Node, float> cost_so_far = new Dictionary <Node, float>();
came_from.Add(startNode, null);
cost_so_far.Add(startNode, 0);
open.queue(heuristic.Estimate(startNode), startNode);
while (open.getSize() > 0)
{
Node current = open.dequeue();
if (current.Equals(graph.endNode))
{
break;
}
foreach (Node n in current.neighbors)
{
float graph_cost = cost_so_far[current] + Node.distanceBetweenNodes(current, n);
if (cost_so_far.ContainsKey(n) == false || graph_cost < cost_so_far[n])
{
cost_so_far[n] = graph_cost;
float priority = graph_cost + heuristic.Estimate(n);
open.queue(priority, n);
came_from[n] = current;
}
}
}
//Put nodes of the path into the list
List <Node> path = new List <Node> ();
Node currentNode = graph.endNode;
path.Add(currentNode);
while (currentNode.Equals(startNode) == false)
{
currentNode = came_from[currentNode];
path.Add(currentNode);
}
path.Reverse();
return(path);
}
public HeuristicD(GenerateGraph graph)
{
heuristicCost = new Dictionary<Node, float>();
PriorityQueue<Node> pq = new PriorityQueue<Node>(graph.Size ());
Dictionary<Node, float> cost_so_far = new Dictionary<Node, float> ();
pq.queue(0.0f, graph.endNode);
cost_so_far.Add (graph.endNode, 0.0f);
while (pq.getSize() > 0) {
Node current = pq.dequeue();
heuristicCost[current] = cost_so_far[current];
for (int i = 0; i < current.neighbors.Count; i++) {
float new_cost = cost_so_far[current] + Node.distanceBetweenNodes(current, current.neighbors[i]);
if (!cost_so_far.ContainsKey(current.neighbors[i]) || new_cost < cost_so_far[current.neighbors[i]]) {
cost_so_far[current.neighbors[i]] = new_cost;
pq.queue(new_cost, current.neighbors[i]);
}
}
}
}
