private static AStarPathSearch.EarlyExitCondition GetEarlyExitCondition(EarlyExitCondition condtion)
{
if (condtion == EarlyExitCondition.GoalTerrain)
{
return(GoalTerrainEarlyExit);
}
else
{
return(null);
}
}
private static bool CheckForGoal(Node currentNode, EarlyExitCondition earlyExit)
{
if (earlyExit != null)
{
if (earlyExit(currentNode.coords) && Utility.ManhattanDistance(startPoint, currentNode.coords) > 10)
{
Debug.Log("EarlyExit!");
}
return((earlyExit(currentNode.coords) && Utility.ManhattanDistance(startPoint, currentNode.coords) > 10) || currentNode.coords.IsSamePoint(goalPoint));
}
else
{
return(currentNode.coords.IsSamePoint(goalPoint));
}
}
public static List <Point> FindPath(Point start, Point goal, TraversableCondition isTraversableCondition, ExternalCostFactor externalCostOffset = null, EarlyExitCondition earlyExit = null)
{
//Caching Parameters for the other methods
startPoint = start;
goalPoint = goal;
List <Node> openList = new List <Node>();
List <Node> closedList = new List <Node>();
Node startNode = GetNodeFromPoint(start);
openList.Add(startNode);
while (openList.Count > 0)
{
Node currentNode = GetLowestFCostNode(openList);
if (CheckForGoal(currentNode, earlyExit)) //Early Exit when found
{
//Reconstruct path
return(RetracePath(startNode, currentNode));
}
openList.Remove(currentNode);
closedList.Add(currentNode);
List <Node> neighbours = GetNeighbours(currentNode);
foreach (Node neighbour in neighbours)
{
if (closedList.Contains(neighbour) || !isTraversableCondition(neighbour.coords))
{
continue;
}
float newCost = currentNode.g + Utility.ManhattanDistance(currentNode.coords, neighbour.coords);
if (externalCostOffset != null)
{
newCost += externalCostOffset(currentNode.coords, neighbour.coords);
}
if (newCost < neighbour.g || !openList.Contains(neighbour))
{
neighbour.g = newCost;
neighbour.h = Utility.ManhattanDistance(neighbour.coords, goal);
neighbour.parent = currentNode;
if (!openList.Contains(neighbour))
{
openList.Add(neighbour);
}
}
}
}
Debug.Log("No Road Found");
return(new List <Point>());
}
