public static bool Search(GraphNode source, GraphNode destination, ref List <GraphNode> path, int maxSteps)
{
bool found = false;
SimplePriorityQueue <GraphNode> nodes = new SimplePriorityQueue <GraphNode>();
source.Cost = 0;
nodes.Enqueue(source, source.Cost);
int steps = 0;
while (!found && nodes.Count > 0 && steps++ < maxSteps)
{
// <dequeue node>
GraphNode node = nodes.Dequeue();
if (node == destination)
{
// <set found to true>
found = true;
// continue, do not execute the rest of this loop
continue;
}
// search node edges for unvisited node
foreach (GraphNode.Edge edge in node.Edges)
{
// calculate cost to nodeB = node cost + edge distance (nodeA to nodeB)
float cost = node.Cost + Vector3.Distance(edge.nodeA.transform.position, edge.nodeB.transform.position);
// if cost < nodeB cost, add to priority queue
if (cost < edge.nodeB.Cost)
{
// <set nodeB cost to cost>
edge.nodeB.Cost = cost;
// <set nodeB parent to node>
edge.nodeB.Parent = node;
// <enqueue without duplicates nodeB with cost as priority>
nodes.Enqueue(edge.nodeB, edge.nodeB.Cost);
}
}
}
// create a list of graph nodes (path)
path = new List <GraphNode>();
// if found is true
if (found)
{
GraphNode node = destination;
// while node not null
while (node != null)
{
path.Add(node);
node = node.Parent;
}
path.Reverse();
}
else
{
path = nodes.ToList();
}
return(found);
}
/// <summary>
/// Begin strafe run.
/// </summary>
public void spawnStrafeRun(Vector3 targetPos)
{
// do nothing if a strafe run is already active
if (_isActive)
{
return;
}
// sanity check the target position
if (targetPos == Vector3.Zero)
{
return;
}
else
{
_targetPos = targetPos;
}
// acquire initial targets
SimplePriorityQueue <Ped> targetQ = buildTargetPriorityQueue(_targetPos, _searchRadius, true);
initialTargetList = targetQ.ToList();
// spawn a strafing vehicle formation
int numVehicles = (targetQ.Count + 2) / vehiclesPerInitialTarget;
strafeVehiclesList = spawnStrafeVehiclesInFormation(targetPos, initialTargetList, numVehicles);
taskAllPilotsEngage(targetQ, true); // if no targets, fire at targetPos
// mark the target position with flare ptfx
targetMarkerPtfx = World.CreateParticleEffect(targetMarkerPtfxAsset, "exp_grd_flare", targetPos);
// coordinate JDAM drops/explosions
_jdamDrops = (new StrafeRunJdam[strafeVehiclesList.Count * _jdamsPerVehicle])
.Select(x => new StrafeRunJdam(_targetPos, _searchRadius)).ToArray();
// render from cinematic cam if requested
if (_cinematic)
{
cineCamCtrler.initializeCinematicCamSequence(
new StrafeRunPropertiesSummary(strafeVehiclesList, initialTargetList, _targetPos));
}
// if all has succeeded, flag it as such
_isActive = true;
_spawnTime = Game.GameTime;
}
public static bool Search(GraphNode source, GraphNode destination, ref List <GraphNode> path, int maxSteps)
{
bool found = false;
//A* algorithm
SimplePriorityQueue <GraphNode> nodes = new SimplePriorityQueue <GraphNode>();
source.Cost = 0;
source.Heuristic = Vector3.Distance(source.transform.position, destination.transform.position);
nodes.Enqueue(source, (source.Cost + source.Heuristic));
// set the current number of steps
int steps = 0;
while (!found && nodes.Count > 0 && steps++ < maxSteps)
{
// <dequeue node>
GraphNode node = nodes.Dequeue();
if (node == destination) //(< check if node is the destination node >)
{
// <set found to true>
found = true;
// <continue, do not execute the rest of this loop>
continue;
}
foreach (GraphNode.Edge edge in node.Edges)
{
// calculate cost to nodeB = node cost + edge distance (nodeA to nodeB)
float cost = node.Cost + Vector3.Distance(edge.nodeA.transform.position, edge.nodeB.transform.position); //< Vector3.Distance nodeA <->nodeB >;
// if cost < nodeB cost, add to priority queue
if (cost < edge.nodeB.Cost) //(< cost is less than nodeB.cost >))
{
// <set nodeB cost to cost>
edge.nodeB.Cost = cost;
// <set nodeB parent to node>
edge.nodeB.Parent = node;
// calculate heuristic = Vector3.Distance (nodeB <-> destination)
edge.nodeB.Heuristic = Vector3.Distance(edge.nodeB.transform.position, destination.transform.position); //< Vector3.Distance(nodeB <->destination) >
// <enqueue without duplicates nodeB with nodeB cost + nodeB heuristics as priority>
nodes.EnqueueWithoutDuplicates(edge.nodeB, (edge.nodeB.Cost + edge.nodeB.Heuristic));
}
}
}
// create a list of graph nodes (path)
path = new List <GraphNode>();
// if found is true
if (found)
{
GraphNode node = destination; //< set node to destination >
// while node not null
while (node != null)
{
// <add node to path list>
path.Add(node);
// <set node to node.Parent>
node = node.Parent;
}
// reverse path
path.Reverse();
}
else
{
// add all nodes to path
path = nodes.ToList();
while (nodes.Count > 0)
{
// <add (dequeued node) to path>
GraphNode node = nodes.Dequeue();
path.Add(node);
}
}
return(found);
}
public List <Event> ToList()
{
return(queue.ToList());
}
