public List<MapItem> getPath(MapItem[,] map, MapItem s, MapItem d)
{
if (s.Equals(this.source) && d.Equals(this.destination) && this.preList != null)
return preList;
this.source = s;
this.destination = d;
preList = new List<MapItem>();
if(s.Name.Equals(d.Name))
return preList;
this.dijkstra(map, s, d);
preList.Add(d);
MapItem pre = d.Pre;
while (true)
{
preList.Add(pre);
if (pre.Name.Equals(s.Name))
break;
else
pre = pre.Pre;
}
preList.Reverse();
return preList;
}
public List<MapItem> getPathTo(MapItem[,] map, MapItem s, String whatToFind)
{
if (s.Equals(this.source)&&this.whatToFind==whatToFind&& this.preList != null)
return preList;
this.source = s;
this.whatToFind = whatToFind;
preList = new List<MapItem>();
if (s.Contain==whatToFind)
return preList;
MapItem d = this.bfs(map, s, whatToFind);
if (d == null)
return null;
Console.WriteLine("SSSSSSS");
preList.Add(d);
MapItem pre = d.Pre;
while (true)
{
preList.Add(pre);
if (pre.Name.Equals(s.Name))
break;
else
pre = pre.Pre;
}
preList.Reverse();
return preList;
}
public static Stack <Vector2> GetAStarPath(List <List <LevelMap.MapItem> > graph, Vector2 start, Vector2 end)
{
// Clear old data
_visited.Clear();
_unvisited.Clear();
_predecessorDict.Clear();
_fDistanceDict.Clear();
_gDistanceDict.Clear();
Stack <Vector2> result = new Stack <Vector2>();
MapItem mapNodeStart = graph[(int)start.y][(int)start.x];
MapItem mapNodeEnd = graph[(int)end.y][(int)end.x];
// Add all nodes
for (int y = 0; y < graph.Count; y++)
{
for (int x = 0; x < graph[y].Count; x++)
{
MapItem node = graph[y][x];
if (node.Type == MapItemType.Path)
{
_fDistanceDict[node] = float.MaxValue;
_gDistanceDict[node] = float.MaxValue;
_unvisited.Add(node);
}
}
}
// Set start to 0
_fDistanceDict[mapNodeStart] = 0;
_gDistanceDict[mapNodeStart] = 0;
int debugCount = 0;
// Search loop
while (_unvisited.Count > 0)
{
if (debugCount > 5000)
{
Debug.LogError("AStar error!");
return(result);
}
MapItem u = GetClosestFromUnvisited();
// Break if reaching goal
if (u.Equals(mapNodeEnd))
{
break;
}
// Add to visited
_visited.Add(u);
foreach (MapItem v in GetNeighbors(u, graph))
{
if (_visited.Contains(v))
{
continue;
}
if (_fDistanceDict[v] > _gDistanceDict[u] + GetEstimatedDistance(v, mapNodeEnd))
{
_fDistanceDict[v] = _gDistanceDict[u] + GetEstimatedDistance(v, mapNodeEnd);
_gDistanceDict[v] = _gDistanceDict[u];
_predecessorDict[v] = u;
}
}
debugCount++;
}
// Add result
MapItem p = _predecessorDict[mapNodeEnd];
int count = 200;
while (!p.Equals(mapNodeStart))
{
p = _predecessorDict[p];
result.Push(p.Position);
if (count < 0)
{
break;
}
count--;
}
return(result);
}
