//Create a graph of N nodes with each node having k nearest neighbors
public Graph(int n, int k, Collider[] Obstacles)
{
start = new Node(GameObject.Find("Start").transform.position, k);
goal = new Node(GameObject.Find("Goal").transform.position, k);
contents = new Node[n];
for(int i = 0; i < n; i++){
contents[i] = new Node(minimum, maximum, k);
}
// in our contents of the graph, we find the k-nearest neighbors for each node
// we first go through each node
for(int i = 0; i < n; i++){
// for each node we go through each other node and add if it is one of our nearest neighbors
for (int j = 0; j < n; j ++){
if (i != j)
{
contents[i].addNeighbor(contents[j], Obstacles);
}
}
contents[i].addNeighbor(goal, Obstacles);
}
// Find neighbors for starting node
for (int i = 0; i < n; i++)
{
start.addNeighbor(contents[i], Obstacles);
}
start.addNeighbor(goal, Obstacles);
for (int i = 0; i < n; i++){
//Instantiate the node so we have a visual representation
Instantiate(NodePrefab, contents[i].position, Quaternion.identity);
Node[] neighbors = contents[i].neighbors.Values.ToArray();
for (int j = 0; j < k; j++){
//Create lines from the node to each nearest neighbor
//Total of i*j*2 elements
Lines.GetComponent<LineRenderer>().SetPosition((2*(i*neighbors.Length+j)), contents[i].position);
Lines.GetComponent<LineRenderer>().SetPosition((2*(i*neighbors.Length+j)+1), neighbors[j].position);
//Debug.DrawLine(contents[i].position, neighbors[j].position);
}
}
Node[] startNeighbors = start.neighbors.Values.ToArray();
for (int i = 0; i < startNeighbors.Length; i++)
{
Lines.GetComponent<LineRenderer>().SetPosition((2*n*k)+2*i, startNeighbors[i].position);
Lines.GetComponent<LineRenderer>().SetPosition((2*n*k)+2*i+1, start.position);
}
Solve soln = new Solve(start, goal);
solnDijkstra = soln.Dijkstra();
solnAStar = soln.AStar();
}
//Create a graph of N nodes with each node having k nearest neighbors
public Graph(int n, int k, Collider[] Obstacles)
{
start = new Node(GameObject.Find("Start").transform.position, k);
goal = new Node(GameObject.Find("Goal").transform.position, k);
contents = new Node[n];
for(int i = 0; i < n; i++){
contents[i] = new Node(minimum, maximum, k);
}
// in our contents of the graph, we find the k-nearest neighbors for each node
// we first go through each node
for(int i = 0; i < n; i++){
// for each node we go through each other node and add if it is one of our nearest neighbors
for (int j = 0; j < n; j ++){
if (i != j)
{
contents[i].addNeighbor(contents[j], Obstacles);
}
}
contents[i].addNeighbor(goal, Obstacles);
}
// Find neighbors for starting node
for (int i = 0; i < n; i++)
{
start.addNeighbor(contents[i], Obstacles);
}
start.addNeighbor(goal, Obstacles);
foreach (Node neighbor in start.neighbors.Values)
{
Debug.DrawLine(start.position, neighbor.position);
}
Solve soln = new Solve(start, goal);
solnDijkstra = soln.Dijkstra();
solnAStar = soln.AStar();
}
