Exemple #1
0
        public Cell[] GreedyFind(Vector2Int start, Vector2Int goal)
        {
            Reset();

            Cell startCell = _grid[start]; //first point
            Cell goalCell  = _grid[goal];  //last point

            //Console.SetCursorPosition(1, 4);
            //Console.WriteLine($"{goalCell.Location.X}-----{goalCell.Location.Y} ---- Greedy");

            _open.Enqueue(startCell, 0);   // not checked

            var bounds = _grid.Size;

            Cell node = null;

            while (_open.Count > 0)
            {
                node = _open.Dequeue();

                node.Closed = true;

                var g = node.G + 1;

                if (goalCell.Location == node.Location)
                {
                    break;
                }

                Vector2Int proposed = new Vector2Int(0, 0);

                for (var i = 0; i < PathingConstants.Directions.Length; i++)
                {
                    var direction = PathingConstants.Directions[i];
                    proposed.X = node.Location.X + direction.X;
                    proposed.Y = node.Location.Y + direction.Y;
                    if (proposed.X < 0 || proposed.X >= bounds.X ||
                        proposed.Y < 0 || proposed.Y >= bounds.Y)
                    {
                        continue;
                    }

                    Cell neighbour = _grid[proposed];

                    if (neighbour.Blocked)
                    {
                        continue;
                    }

                    if (_grid[neighbour.Location].Closed)
                    {
                        continue;
                    }

                    if (!_open.Contains(neighbour))
                    {
                        neighbour.G      = g;
                        neighbour.H      = Heuristic(neighbour, node);
                        neighbour.Parent = node;
                        // F will be set by the queue
                        _open.Enqueue(neighbour, neighbour.G + neighbour.H + neighbour.Value);
                    }
                    else if (g + neighbour.H + neighbour.Value < neighbour.F)
                    {
                        neighbour.G      = g;
                        neighbour.F      = neighbour.G + neighbour.H + neighbour.Value;
                        neighbour.Parent = node;
                    }
                }
            }

            var path = new Stack <Cell>();

            while (node != null)
            {
                path.Push(node);
                node = node.Parent;
            }

            return(path.ToArray());
        }
Exemple #2
0
        public Cell[] Find(Vector2Int start, Vector2Int goal)
        {
            Reset();

            Cell startCell = _grid[start];
            Cell goalCell  = _grid[goal];

            _open.Enqueue(startCell, 0);

            var bounds = _grid.Size;

            Cell node = null;

            while (_open.Count > 0)
            {
                node = _open.Dequeue();

                node.Closed = true;

                var cBlock = false;

                var g = node.G + 1;

                if (goalCell.Location == node.Location)
                {
                    break;
                }

                Vector2Int proposed = new Vector2Int(0, 0);

                for (var i = 0; i < PathingConstants.Directions.Length; i++)
                {
                    var direction = PathingConstants.Directions[i];

                    proposed.X = node.Location.X + direction.X;
                    proposed.Y = node.Location.Y + direction.Y;

                    // Bounds checking
                    if (proposed.X < 0 || proposed.X >= bounds.X ||
                        proposed.Y < 0 || proposed.Y >= bounds.Y)
                    {
                        continue;
                    }

                    Cell neighbour = _grid[proposed];

                    if (neighbour.Blocked)
                    {
                        if (i < 4)
                        {
                            cBlock = true;
                        }

                        continue;
                    }

                    // Prevent slipping between blocked cardinals by an open diagonal
                    if (i >= 4 && cBlock)
                    {
                        continue;
                    }

                    if (_grid[neighbour.Location].Closed)
                    {
                        continue;
                    }

                    if (!_open.Contains(neighbour))
                    {
                        neighbour.G      = g;
                        neighbour.H      = Heuristic(neighbour, node);
                        neighbour.Parent = node;

                        // F will be set by the queue
                        _open.Enqueue(neighbour, neighbour.G + neighbour.H);
                    }
                    else if (g + neighbour.H < neighbour.F)
                    {
                        neighbour.G      = g;
                        neighbour.F      = neighbour.G + neighbour.H;
                        neighbour.Parent = node;
                    }
                }
            }

            var path = new Stack <Cell>();

            while (node != null)
            {
                path.Push(node);
                node = node.Parent;
            }

            return(path.ToArray());
        }