public static ArrayList FindPath( Node start, Node goal )
{
openList = new NodeSort();
openList.Push(start);
start.G_Cost = 0.0f;
start.H_Cost = HeuristicEstimateCost(start, goal);
closedList = new NodeSort();
Node node = null;
while (openList.Length != 0)
{
node = openList.First();
//Push the current node to the closed list
closedList.Push(node);
//and remove it from openList
openList.Remove(node);
//Check if the current node is the goal node
if ( node.position == goal.position )
{
return CalculatePath(node);
}
//Create an ArrayList to store the neighboring nodes
ArrayList neighbours = new ArrayList();
NodeManager.instance.GetNeighbours(node, neighbours);
Node neighbourNode;
for ( int i = 0; i < neighbours.Count; i++ )
{
neighbourNode = (Node)neighbours[i];
if ( !closedList.Contains( neighbourNode ) )
{
float cost;
float totalCost;
float neighbourNodeEstCost;
if ( !openList.Contains( neighbourNode ) )
{
//G
cost = HeuristicEstimateCost( node, neighbourNode );
totalCost = node.G_Cost + cost;
//H
neighbourNodeEstCost = HeuristicEstimateCost( neighbourNode, goal );
neighbourNode.G_Cost = totalCost;
neighbourNode.parent = node;
neighbourNode.H_Cost = neighbourNodeEstCost;
openList.Push(neighbourNode);
}
else
{
cost = HeuristicEstimateCost( node, neighbourNode );
totalCost = node.G_Cost + cost;
if( neighbourNode.G_Cost > totalCost )
{
neighbourNode.G_Cost = totalCost;
neighbourNode.parent = node;
}
}
}
}
}
if ( node.position != goal.position )
{
Debug.LogError("Goal Not Found");
return null;
}
return CalculatePath(node);
}
public static ArrayList FindPath(Node start, Node goal)
{
openList = new NodeSort();
openList.Push(start);
start.G_Cost = 0.0f;
start.H_Cost = HeuristicEstimateCost(start, goal);
closedList = new NodeSort();
Node node = null;
while (openList.Length != 0)
{
node = openList.First();
//Push the current node to the closed list
closedList.Push(node);
//and remove it from openList
openList.Remove(node);
//Check if the current node is the goal node
if (node.position == goal.position)
{
return(CalculatePath(node));
}
//Create an ArrayList to store the neighboring nodes
ArrayList neighbours = new ArrayList();
NodeManager.instance.GetNeighbours(node, neighbours);
Node neighbourNode;
for (int i = 0; i < neighbours.Count; i++)
{
neighbourNode = (Node)neighbours[i];
if (!closedList.Contains(neighbourNode))
{
float cost;
float totalCost;
float neighbourNodeEstCost;
if (!openList.Contains(neighbourNode))
{
//G
cost = HeuristicEstimateCost(node, neighbourNode);
totalCost = node.G_Cost + cost;
//H
neighbourNodeEstCost = HeuristicEstimateCost(neighbourNode, goal);
neighbourNode.G_Cost = totalCost;
neighbourNode.parent = node;
neighbourNode.H_Cost = neighbourNodeEstCost;
openList.Push(neighbourNode);
}
else
{
cost = HeuristicEstimateCost(node, neighbourNode);
totalCost = node.G_Cost + cost;
if (neighbourNode.G_Cost > totalCost)
{
neighbourNode.G_Cost = totalCost;
neighbourNode.parent = node;
}
}
}
}
}
if (node.position != goal.position)
{
Debug.LogError("Goal Not Found");
return(null);
}
return(CalculatePath(node));
}
