public List <NodeItem> GetRoute(Vector3 from, Vector3 to)
{
var fromNode = GetNearestNode(from);
var toNode = GetNearestNode(to);
if (fromNode.guid == toNode.guid)
{
return(new List <NodeItem>()
{
fromNode
});
}
var baseTraversal = new NodeTraversal()
{
distance = 0.0f, guids = new List <string>()
{
}
};
var pathTraversal = GetTraversal(baseTraversal, fromNode, toNode);
if (pathTraversal == null)
{
return(null);
}
return(pathTraversal.guids.Select((guid) => nodes[guid].item).ToList());
}
public NodeTraversal Clone()
{
var clone = new NodeTraversal();
clone.distance = distance;
clone.guids = guids.GetRange(0, guids.Count);
return(clone);
}
private NodeTraversal GetTraversal(NodeTraversal prior, NodeItem next, NodeItem target)
{
if (next.isDeactivated)
{
return(null);
}
NodeTraversal traversal = prior.Clone();
if (traversal.guids.Count > 0)
{
var last = nodes[prior.guids.Last()].item;
traversal.distance = prior.distance + (last.transform.position - next.transform.position).magnitude;
}
traversal.guids.Add(next.guid);
if (target.guid == next.guid)
{
return(traversal);
}
var state = nodes[next.guid];
NodeTraversal shortestTraversal = null;
foreach (var to in state.to.Values)
{
if (traversal.guids.Contains(to.item.guid))
{
continue;
}
var nextTraversal = GetTraversal(traversal, to.item, target);
if (nextTraversal == null)
{
continue;
}
if (shortestTraversal == null || nextTraversal.distance < shortestTraversal.distance)
{
shortestTraversal = nextTraversal;
}
}
return(shortestTraversal);
}