public Path PlotPath()
{
if (Node.CanReach(transform.position, Player.player.transform.position, LayerMasks.CanNodeReachPlayer))
{
return(new Path(new List <Node>(), Vector3.Distance(transform.position, Player.player.transform.position)));
}
IGraph subgraph = Graph.graph.GetSubgraph(transform.position);
if (subgraph == null)
{
Debug.Log("Couldn't find subgraph");
return(null);
}
bool[] marked = new bool[Graph.graph.GraphNodes.Count];
for (int i = 0; i < subgraph.GraphNodes.Count; i++)
{
marked[i] = false;
}
PriorityQueue <ZombieState> queue = new PriorityQueue <ZombieState>();
for (int i = 0; i < subgraph.GraphNodes.Count; i++)
{
float distance = Vector3.Distance(transform.position, subgraph.GraphNodes[i].Component.transform.position);
if (Node.CanReach(transform.position, subgraph.GraphNodes[i].Component.transform.position, LayerMasks.CanNodeReachPlayer) && distance != 0)
{
marked[subgraph.GraphNodes[i].ID] = true;
ZombieState state = new ZombieState(subgraph.GraphNodes[i], distance);
queue.Push(state.f, state);
}
}
ZombieState goal = null;
while (queue.IsEmpty() == false)
{
goal = queue.Pop();
if (goal.node.CanReachPlayer)
{
break;
}
for (int i = 0; i < goal.node.adjNodes.Count; i++)
{
if (marked[goal.node.adjNodes[i].node.ID] == false && goal.node.subIndex == goal.node.adjNodes[i].node.subIndex)
{
ZombieState state = new ZombieState(goal, goal.node.adjNodes[i]);
marked[goal.node.adjNodes[i].node.ID] = true;
queue.Push(state.f, state);
}
}
}
if (goal == null)
{
return(new Path(new List <Node>(), 0));
}
return(goal.ToPath());
}
