public AStarPathfinding(WorldModel WM, IOpenSet open, IClosedSet closed, IHeuristic heuristic) : base(WM)
{
this.Open = open;
this.Closed = closed;
this.NodesPerSearch = uint.MaxValue; //by default we process all nodes in a single request
this.InProgress = false;
this.Heuristic = heuristic;
}
public AStarPathfinding(NavMeshPathGraph graph, IOpenSet open, IClosedSet closed, IHeuristic heuristic)
{
this.NavMeshGraph = graph;
this.Open = open;
this.Closed = closed;
this.InProgress = false;
this.Heuristic = heuristic;
}
public AStarPathfinding(WorldModel WM, IOpenSet open, IClosedSet closed, IHeuristic heuristic) : base(WM)
{
this.Open = open;
this.Closed = closed;
this.NodesPerSearch = uint.MaxValue; //by default we process all nodes in a single request
this.InProgress = false;
this.Heuristic = heuristic;
}
public AStarPathfinding(NavMeshPathGraph graph, IOpenSet open, IClosedSet closed, IHeuristic heuristic)
{
this.NavMeshGraph = graph;
this.Open = open;
this.Closed = closed;
this.NodesPerFrame = uint.MaxValue; //by default we process all nodes in a single request
this.InProgress = false;
this.Heuristic = heuristic;
}
public AStarPathfinding(NavMeshPathGraph graph, IOpenSet open, IClosedSet closed, IHeuristic heuristic)
{
this.NavMeshGraph = graph;
this.Open = open;
this.Closed = closed;
this.NodesPerSearch = uint.MaxValue; //by default we process all nodes in a single request
this.InProgress = false;
this.Heuristic = heuristic;
}
public GoalBoundsDijkstraMapFlooding(NavMeshPathGraph graph)
{
this.NavMeshGraph = graph;
//do not change this
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes);
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
}
public GoalBoundsDijkstraMapFlooding(List <NavigationGraphNode> nodes)
{
this.NodeRecordArray = new NodeRecordArray(nodes);
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
}
private void ApplayDijkstraAll()
{
if (navMesh != null)
{
nodes = GetNodesHack(navMesh);
if (useNodeRecordArray)
{
Debug.Log("UsingNodeRecordArray");
recordArray = new NodeRecordArray<NavigationGraphNode, GoalBoundingRecord>(nodes);
Open = recordArray;
Closed = recordArray;
}
else
{
Debug.Log("NotUsingNodeRecordArray");
Open = new LeftPriorityList<GoalBoundingRecord>();
Closed = new ClosedDictionary<NavigationGraphNode, GoalBoundingRecord>();
}
DummyRecord = new GoalBoundingRecord();
float runningTime = Time.realtimeSinceStartup;
boundingBoxes = new List<List<BoundingBox>>(new List<BoundingBox>[nodes.Count]);
for (int i = 0; i < nodes.Count; i++)
{
nodes[i].NodeIndex = i;
}
for (int k = 0; k < nodes.Count; k++)
{
if (useNodeRecordArray)
{
ApplyDijkstraNodeArray(nodes[k]);
}
else
{
ApplyDijkstra(nodes[k]);
}
ICollection<GoalBoundingRecord> closed = Closed.All();
foreach (GoalBoundingRecord record in closed)
{
if (record.OriginBoundingBox != null)
{
record.OriginBoundingBox.Update(record.Location.Position);
}
}
if (boundingBoxes[k] != null)
{
foreach (BoundingBox boundingBox in boundingBoxes[k])
{
boundingBox.Update(nodes[k].Position);
}
}
PrintTimeFunc(k, Time.realtimeSinceStartup - runningTime);
}
//last print
Debug.Log("Nodes: " + nodes.Count + " Processing time: " + (Time.realtimeSinceStartup - runningTime) + " s");
}
}
