public void FindPath(Vector2 startPosition, Vector2 endPosition)
{
AStarNode startNode = mapGenerator.nodes[(int)startPosition.x, (int)startPosition.y] as AStarNode;
AStarNode endNode = mapGenerator.nodes[(int)endPosition.x, (int)endPosition.y] as AStarNode;
List <AStarNode> unvisitedNodes = new List <AStarNode>();
HashSet <AStarNode> visitedNodes = new HashSet <AStarNode>();
unvisitedNodes.Add(startNode);
while (unvisitedNodes.Count > 0)
{
AStarNode currentNode = unvisitedNodes[0];
for (int i = 1; i < unvisitedNodes.Count; i++)
{
if (unvisitedNodes[i].FCost < currentNode.FCost || unvisitedNodes[i].FCost == currentNode.FCost && unvisitedNodes[i].HCost < currentNode.HCost)
{
currentNode = unvisitedNodes[i];
}
}
unvisitedNodes.Remove(currentNode);
visitedNodes.Add(currentNode);
if (currentNode == endNode)
{
signalBus.Fire(new PathFoundSignal()
{
startingNode = startNode, endNode = endNode
});
return;
}
foreach (AStarNode neighbour in currentNode.Neighbours)
{
if (neighbour.IsObstructed || visitedNodes.Contains(neighbour))
{
continue;
}
int MoveCost = (int)currentNode.GCost + NodeDistanceCalculator.GetDistance(currentNode.Position, neighbour.Position);
if (MoveCost < neighbour.GCost || !unvisitedNodes.Contains(neighbour))
{
neighbour.GCost = MoveCost;
neighbour.HCost = NodeDistanceCalculator.GetDistance(neighbour.Position, endNode.Position);
neighbour.Parent = currentNode;
if (!unvisitedNodes.Contains(neighbour))
{
unvisitedNodes.Add(neighbour);
}
}
}
}
}
public void FindPath(Vector2 startPosition, Vector2 endPosition)
{
startPointPosition = startPosition;
GetDijkstraNodes();
DijkstraNode startNode = mapGenerator.nodes[(int)startPosition.x, (int)startPosition.y] as DijkstraNode;
DijkstraNode endNode = mapGenerator.nodes[(int)endPosition.x, (int)endPosition.y] as DijkstraNode;
while (unexploredNodes.Count > 0)
{
unexploredNodes.Sort((x, y) => x.DistanceFromStart.CompareTo(y.DistanceFromStart));
DijkstraNode currentNode = unexploredNodes[0];
if (currentNode == endNode)
{
signalBus.Fire(new PathFoundSignal()
{
startingNode = startNode, endNode = endNode
});
return;
}
unexploredNodes.Remove(currentNode);
List <DijkstraNode> neighbours = GetNeighbours(currentNode.Neighbours);
foreach (DijkstraNode neighbour in neighbours)
{
if (neighbour == null)
{
continue;
}
DijkstraNode node = neighbour.GetComponent <DijkstraNode>();
if (unexploredNodes.Contains(neighbour) && !node.IsObstructed)
{
int distance = NodeDistanceCalculator.GetDistance(neighbour.Position, currentNode.Position);
distance = currentNode.DistanceFromStart + distance;
if (distance < node.DistanceFromStart)
{
node.DistanceFromStart = distance;
node.Parent = currentNode;
}
}
}
}
}