IEnumerator Search(List <Node> nodes, List <Edge> edges, Node startNode, Node endNode)
{
float waitTime = 0.1f;
Stack <Node> stack = new Stack <Node>();
stack.Push(startNode);
List <Node> visitedNodes = new List <Node>();
while (stack.Count > 0)
{
Node n = stack.Pop();
visitedNodes.Add(n);
n.color = Color.red;
yield return(new WaitForSeconds(waitTime));
if (n == endNode)
{
Debug.Log("We found the end node!");
break;
}
List <Node> neighs = graphMaker.GetNeighbours(n);
foreach (var neigh in neighs)
{
if (!visitedNodes.Contains(neigh) && !stack.Contains(neigh))
{
Edge e = graphMaker.GetEdge(n, neigh);
e.color = Color.green;
yield return(new WaitForSeconds(waitTime));
stack.Push(neigh);
}
}
}
yield return(null);
}
private IEnumerator Search(List <Node> nodes, List <Edge> edges, Node startNode, Node endNode)
{
Queue <Node> queue = new Queue <Node>();
queue.Enqueue(startNode);
List <Node> visitedNodes = new List <Node>();
while (queue.Count > 0)
{
Node n = queue.Dequeue();
visitedNodes.Add(n);
n.color = Color.red;
yield return(new WaitForSeconds(drawDelay));
if (n == endNode)
{
Debug.Log("Found!");
break;
}
List <Node> neighs = graphMaker.GetNeighbours(n);
foreach (Node neigh in neighs)
{
if (!queue.Contains(neigh) && !visitedNodes.Contains(neigh))
{
queue.Enqueue(neigh);
Edge e = graphMaker.GetEdge(n, neigh);
e.color = Color.green;
yield return(new WaitForSeconds(drawDelay));
}
}
}
yield return(null);
}
public IEnumerator Search(List <Node> nodes, List <Edge> edges, Node startNode, Node endNode, List <Node> bestPath)
{
float waitTime = 0.01f;
List <Node> openSet = new List <Node>();
List <Node> closedSet = new List <Node>();
startNode.cost = 0;
startNode.heuristic = Vector2.Distance(startNode.transform.position, endNode.transform.position);
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node n = GetBestNode(openSet, true);
openSet.Remove(n);
closedSet.Add(n);
n.color = Color.red;
yield return(new WaitForSeconds(waitTime));
if (n == endNode)
{
Debug.Log("We found the end node!");
break;
}
List <Node> neighs = graphMaker.GetNeighbours(n);
foreach (var neigh in neighs)
{
if (!closedSet.Contains(neigh) && !openSet.Contains(neigh))
{
Edge e = graphMaker.GetEdge(n, neigh);
e.color = Color.red;
yield return(new WaitForSeconds(waitTime));
neigh.cost = n.cost + Vector2.Distance(neigh.transform.position, n.transform.position);
neigh.heuristic = Vector2.Distance(neigh.transform.position, endNode.transform.position);
openSet.Add(neigh);
}
}
}
Debug.Log("SEARCH FINISHED");
bestPath.Add(endNode);
var currentNode = endNode;
while (currentNode != startNode)
{
// Get the neighbours of the current node
List <Node> neighs = graphMaker.GetNeighbours(currentNode);
//Find shortest path
Node bestNeigh = GetBestNode(neighs, false);
Edge e = graphMaker.GetEdge(currentNode, bestNeigh);
bestPath.Add(bestNeigh);
currentNode = bestNeigh;
currentNode.color = Color.green;
e.color = Color.green;
yield return(new WaitForSeconds(waitTime));
}
bestPath.Reverse();
yield return(null);
}
public IEnumerator Search(List <Node> nodes, List <Edge> edges, Node startNode, Node endNode, List <Node> bestPath)
{
List <Node> openSet = new List <Node>();
List <Node> closedSet = new List <Node>();
startNode.cost = 0;
startNode.heutistic = Vector2.Distance(startNode.transform.position, endNode.transform.position) * heuristicMultiplier;
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node n = GetBestNode(openSet, true);
openSet.Remove(n);
closedSet.Add(n);
n.color = Color.red;
yield return(new WaitForSeconds(drawDelay));
if (n == endNode)
{
Debug.Log("Found!");
break;
}
List <Node> neighs = graphMaker.GetNeighbours(n);
foreach (Node neigh in neighs)
{
if (!closedSet.Contains(neigh) && !openSet.Contains(neigh))
{
Edge e = graphMaker.GetEdge(n, neigh);
e.color = Color.green;
yield return(new WaitForSeconds(drawDelay));
neigh.cost = n.cost + Vector2.Distance(neigh.transform.position, n.transform.position);
neigh.heutistic = Vector2.Distance(neigh.transform.position, endNode.transform.position) * heuristicMultiplier;
openSet.Add(neigh);
}
}
}
// Find best path
bestPath.Add(endNode);
var currentNode = endNode;
while (currentNode != startNode)
{
// Get the neighbours of the current node
List <Node> neighs = graphMaker.GetNeighbours(currentNode);
// Find the best neighbour
Node bestNeigh = GetBestNode(neighs, false);
Edge e = graphMaker.GetEdge(currentNode, bestNeigh);
bestPath.Add(bestNeigh);
currentNode = bestNeigh;
bestNeigh.color = Color.cyan;
e.color = Color.yellow;
yield return(new WaitForSeconds(drawDelay));
}
yield return(null);
}
