public static ArrayList FindPath(Node startNode, Node endNode)
{
int findCount = 0;
// 탐색을 위한 Node를 담을 Queue 설정
openQueue = new SortingQueue <Node>();
openQueue.Enqueue(startNode);
startNode.gScore = 0f;
startNode.hScore = GetPostionScore(startNode, endNode);
//탐색이 끝난 Node를 담을 Queue 설정, 자기가 있는 중심축
closedQueue = new SortingQueue <Node>();
Node node = null;
while (openQueue.Count != 0)
{
//Queue는 먼저 들어간게 먼저 나온다.
node = openQueue.Dequeue();
// 목적지를 찾았다면
if (node == endNode)
{
Debug.Log("Find: " + findCount);
return(GetReverseResult(node));
}
// Node를 기준으로 갈수있는 주변 길 찾기
ArrayList availableNodes = GameController.Instance.GetAvailableNodes(node);
foreach (Node availableNode in availableNodes)
{
//이미 찾았던 길이 아니라면 openQueue에 추가
if (!closedQueue.Contains(availableNode))
{
//다른애가 오픈큐에 넣었었는데 다시 똑같은 길을 찾아서 오픈큐에 넣으려는 중복을 방지하도록 처리
if (openQueue.Contains(availableNode))
{
float score = GetPostionScore(node, availableNode);
float newGScore = node.gScore + score;
//더 가까운 길이라면
if (availableNode.gScore > newGScore)
{
availableNode.gScore = newGScore;
availableNode.parent = node;
}
}
else
{
float score = GetPostionScore(node, availableNode);
float newGScore = node.gScore + score;
float newHScore = GetPostionScore(availableNode, endNode);
availableNode.gScore = newGScore;
availableNode.hScore = newHScore;
//GScore에 따라 부모가 바뀜
availableNode.parent = node;
openQueue.Enqueue(availableNode);
findCount++;
}
}
}
closedQueue.Enqueue(node);
}
if (node == endNode)
{
Debug.Log("Find: " + findCount);
return(GetReverseResult(node));
}
return(null);
}
public static ArrayList FindPath(Node startNode, Node endNode)
{
int findCount = 0;
// 탐색을 위한 Node를 담을 Queue 설정
openQueue = new SortingQueue <Node>();
openQueue.Enqueue(startNode);
startNode.gScore = 0f;
startNode.hScore = GetPostionScore(startNode, endNode);
// 탐색이 끝난 Node를 담을 Queue 설정
closedQueue = new SortingQueue <Node>();
Node node = null;
while (openQueue.Count != 0)
{
node = openQueue.Dequeue();
// 목적지를 찾았다면
if (node == endNode)
{
Debug.Log("Find: " + findCount);
return(GetReverseResult(node));
}
// Node를 기준으로 갈수있는 주변 길 찾기
ArrayList availableNodes = GameController.Instance.GetAvailableNodes(node);
foreach (Node availableNode in availableNodes)
{
if (!closedQueue.Contains(availableNode))
{
if (openQueue.Contains(availableNode))
{
float score = GetPostionScore(node, availableNode);
float newGScore = node.gScore + score;
if (availableNode.gScore > newGScore)
{
availableNode.gScore = newGScore;
availableNode.parent = node;
}
}
else
{
float score = GetPostionScore(node, availableNode);
float newGScore = node.gScore + score;
float newHScore = GetPostionScore(availableNode, endNode);
availableNode.gScore = newGScore;
availableNode.hScore = newHScore;
availableNode.parent = node;
openQueue.Enqueue(availableNode);
findCount++;
}
}
}
closedQueue.Enqueue(node);
}
if (node == endNode)
{
Debug.Log("Find: " + findCount);
return(GetReverseResult(node));
}
return(null);
}