private List <MG_hexagonCell> GetPathForNode(MG_AP_PathNode pathNode)
{
var result = new List <MG_hexagonCell>();
var currentNode = pathNode;
while (currentNode != null)
{
result.Add(currentNode.Current_compCell);
currentNode = currentNode.CameFrom;
}
result.Reverse();
return(result);
}
private Collection <MG_AP_PathNode> GetNeighbours(MG_AP_PathNode pathNode,
MG_hexagonCell goal)
{
Step++;
var result = new Collection <MG_AP_PathNode>();
// Соседними точками являются соседние по стороне клетки.
MG_hexagonCell[] neighbourPoints = new MG_hexagonCell[6];
neighbourPoints[0] = pathNode.Current_compCell.NeighbourArray[0];
neighbourPoints[1] = pathNode.Current_compCell.NeighbourArray[1];
neighbourPoints[2] = pathNode.Current_compCell.NeighbourArray[2];
neighbourPoints[3] = pathNode.Current_compCell.NeighbourArray[3];
neighbourPoints[4] = pathNode.Current_compCell.NeighbourArray[4];
neighbourPoints[5] = pathNode.Current_compCell.NeighbourArray[5];
foreach (var neighbour in neighbourPoints)
{
if (!neighbour)//если существует соседняя клетка
{
continue;
}
if (!neighbour.Walkable)//если можно ходить по ней
{
continue;
}
// Заполняем данные для точки маршрута.
TotalVisitedCells++;
if (TotalVisitedCells == TotalCellcount)//если слишком много шагов, то перестать искать!
{
continue;
}
GameObject obj_pathNode = Instantiate(Prefab_pathNode); //Создание нода
obj_pathNode.transform.parent = this.transform; //Вставляем данный child в Parent
obj_pathNode.name = "Pathnode №" + TotalVisitedCells + ": (" + neighbour.GameCoordinate_x + ", " + neighbour.GameCoordinate_y + ")"; //Задаем имя объекту
MG_AP_PathNode neighbourNode = obj_pathNode.GetComponent <MG_AP_PathNode>();
ArrayOfNodes[TotalVisitedCells] = neighbourNode;//кладем в массив
neighbourNode.Position = neighbour.transform;
neighbourNode.CameFrom = pathNode;
neighbourNode.PathLengthFromStart = pathNode.PathLengthFromStart + 1;// neighbourNode.GetDistanceBetweenNeighbours();
neighbourNode.HeuristicEstimatePathLength = GetHeuristicPathLength(neighbour, goal);
neighbourNode.Current_compCell = neighbour;
result.Add(neighbourNode);
neighbour.Rend.material.color = Color.magenta;
//neighbour.Label.text = "" + Step + "";
}
return(result);
}
public List <MG_hexagonCell> FindPath(MG_hexagonCell start, MG_hexagonCell goal)
{
//Шаг 0. ПОДГОТОВКА
RemoveAllNodes();
// Шаг 1.
Debug.Log("FindPath(): Шаг 1.");
var closedSet = new Collection <MG_AP_PathNode>();
var openSet = new Collection <MG_AP_PathNode>();
TotalVisitedCells = 0;
Step = 0;
// Шаг 2.
Debug.Log("FindPath(): Шаг 2.");
GameObject obj_pathNode = Instantiate(Prefab_pathNode); //Создание нода
obj_pathNode.transform.parent = this.transform; //Вставляем данный child в Parent
obj_pathNode.name = "Pathnode №" + TotalVisitedCells + ": (" + start.GameCoordinate_x + ", " + start.GameCoordinate_y + ")"; //Задаем имя объекту
MG_AP_PathNode startNode = obj_pathNode.GetComponent <MG_AP_PathNode>();
start.Label.text = "" + Step + "";
ArrayOfNodes[TotalVisitedCells] = startNode;//кладем в массив
startNode.Position = start.transform;
startNode.CameFrom = null;
startNode.PathLengthFromStart = 0;
startNode.HeuristicEstimatePathLength = GetHeuristicPathLength(start, goal);
startNode.Current_compCell = start;
openSet.Add(startNode);
while (openSet.Count > 0)
{
// Шаг 3.
Debug.Log("FindPath(): Шаг 3.");
var currentNode = openSet.OrderBy(node =>
node.EstimateFullPathLength).First();
// Шаг 4.
Debug.Log("FindPath(): Шаг 4.");
if (currentNode.Current_compCell == goal)
{
List <MG_hexagonCell> listOfCells = GetPathForNode(currentNode);
ReColorPatch(listOfCells);
start.Rend.material.color = Color.green;
goal.Rend.material.color = new Color(0.2F, 0.3F, 0.4F);
start.Label.text = "->BEGIN<-";
goal.Label.text = "->GOAL<-";
return(listOfCells);
}
// Шаг 5.
Debug.Log("FindPath(): Шаг 5.");
openSet.Remove(currentNode);
closedSet.Add(currentNode);
// Шаг 6.
Debug.Log("FindPath(): Шаг 6.");
foreach (var neighbourNode in GetNeighbours(currentNode, goal))
{
// Шаг 7.
Debug.Log("FindPath(): Шаг 7.");
if (closedSet.Count(node => node.Position == neighbourNode.Position) > 0)
{
continue;
}
var openNode = openSet.FirstOrDefault(node =>
node.Position == neighbourNode.Position);
// Шаг 8.
Debug.Log("FindPath(): Шаг 8.");
if (openNode == null)
{
openSet.Add(neighbourNode);
}
else
if (openNode.PathLengthFromStart > neighbourNode.PathLengthFromStart)
{
// Шаг 9.
Debug.Log("FindPath(): Шаг 9.");
openNode.CameFrom = currentNode;
openNode.PathLengthFromStart = neighbourNode.PathLengthFromStart;
}
}
}
// Шаг 10.
Debug.LogWarning("FindPath(): Шаг 10. Путь не найден!");
return(null);
}
//==================================================МЕТОДЫ
private void Start()
{
Comp_gridCell = GameObject.FindWithTag("MG_Grid_tag").GetComponent <MG_Grid>();
TotalCellcount = (Comp_gridCell.Y * Comp_gridCell.X);
ArrayOfNodes = new MG_AP_PathNode[TotalCellcount];
}
