Exemple #1
0
        public int CompareTo(object obj)
        {
            NavGraphNode node = (NavGraphNode)obj;

            if (Hcost < node.Hcost)
            {
                return(-1);
            }
            if (Hcost > node.Hcost)
            {
                return(1);
            }
            return(0);
        }
Exemple #2
0
        public int[] GetPath(int startNodeIndex, int goalNodeIndex)
        {
            NavGraphNode startNode = Graph.GetNode(startNodeIndex);
            NavGraphNode goalNode  = Graph.GetNode(goalNodeIndex);

            OpenList.Add(startNode);
            startNode.Hcost = EstimateHeuristicCost(startNode, goalNode);
            startNode.Gcost = 0;

            NavGraphNode node = new NavGraphNode(-1);

            while (OpenList.Count > 0)
            {
                node = GetFirstFreeNode();

                if (node.Index == goalNode.Index)
                {
                    return(CalculatePath(node));
                }

                List <NavGraphNode> connectedNodes = Graph.GetConnectedNodes(node.Index);

                foreach (NavGraphNode connectedNode in connectedNodes)
                {
                    if (!CloseList.Contains(connectedNode))
                    {
                        CalculateCostsForNode(node, connectedNode, goalNode);

                        if (!OpenList.Contains(connectedNode))
                        {
                            AddNodeAndSortList(connectedNode, OpenList);
                        }
                    }
                }

                AddNodeAndSortList(node, CloseList);
                RemoveAndSortList(node, OpenList);
            }

            if (node.Index != goalNode.Index)
            {
                Debug.LogError("goal no found");
                return(null);
            }

            return(CalculatePath(node));
        }
Exemple #3
0
 private float EstimateHeuristicCost(NavGraphNode currentNode, NavGraphNode goalNode)
 {
     return((currentNode.Position - goalNode.Position).magnitude);
 }
Exemple #4
0
 private void RemoveAndSortList(NavGraphNode node, List <NavGraphNode> nodeList)
 {
     OpenList.Remove(node);
     OpenList.Sort();
 }
Exemple #5
0
 private void AddNodeAndSortList(NavGraphNode connectedNode, List <NavGraphNode> nodeList)
 {
     nodeList.Add(connectedNode);
     nodeList.Sort();
 }