public static PathInfo GetStraightPath(Unit unit, PathSquare start, PathSquare end)
{
HashSet <PathSquare> closedSet = new HashSet <PathSquare>();
ResetPathSquare();
bool reachedGoal = false;
var direction = (end.pos.ToVector() - start.pos.ToVector()).normalized;
var current = start;
while (current != null)
{
if (current == end)
{
//return PathInfo.GenerateWaypoints(start, current);
reachedGoal = true;
}
closedSet.Add(current);
var next = current.pos.ToVector() + direction;
PathSquareNeighbourInfo nextNeighbour;
if (current.neighbours.TryGetValue(next.ConvertToIPosition(), out nextNeighbour))
{
if (!closedSet.Contains(nextNeighbour.neighbour))
{
if (nextNeighbour.neighbour == end || CanWalkToSquare(unit, nextNeighbour))
{
nextNeighbour.neighbour.parent = current;
current = nextNeighbour.neighbour;
continue;
}
}
}
break;
}
if (reachedGoal)
{
return(PathInfo.GenerateWaypoints(start, current));
}
return(null);
}
public static PathInfo GetShortestPath(Unit unit, PathSquare start, PathSquare end)
{
HashSet <PathSquare> closedSet = new HashSet <PathSquare>();
HashSet <PathSquare> openSet = new HashSet <PathSquare>();
PathSquare closestSquare = null;
double closestDistance = 9999;
openSet.Add(start);
ResetPathSquare();
start.gScore = 0;
start.fScore = start.Distance(end);
double bestRouteDist = start.Distance(end);
while (openSet.Count > 0)
{
var current = openSet.OrderBy(n => n.fScore).FirstOrDefault();
if (current == end)
{
return(PathInfo.GenerateWaypoints(start, current));
}
openSet.Remove(current);
closedSet.Add(current);
foreach (var pair in current.neighbours)
{
var neighbourInfo = pair.Value;
var neighbour = neighbourInfo.neighbour;
var distance = neighbourInfo.distance;
if (closedSet.Contains(neighbour))
{
continue;
}
if (!CanWalkToSquare(unit, neighbourInfo))
{
continue;
}
var alternativeDistance = current.gScore + distance;
/*if(alternativeDistance > bestRouteDist * 2)
* {
* continue; //stop searching for route that's longer than 2x the optimal path
* }*/
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else if (alternativeDistance >= neighbour.gScore)
{
continue;
}
var estimatedDistance = neighbour.Distance(end);
neighbour.parent = current;
neighbour.gScore = alternativeDistance;
neighbour.fScore = alternativeDistance + estimatedDistance;
if (closestDistance > estimatedDistance)
{
closestSquare = neighbour;
closestDistance = estimatedDistance;
}
}
}
if (closestSquare == null)
{
return(null);
}
if (closestSquare.Distance(end) < start.Distance(end))
{
var path = PathInfo.GenerateWaypoints(start, closestSquare);
path.reachable = false;
return(path);
}
else
{
return(null);
}
}
