public bool Search(Graph graph, IPathfindingNode source, IPathfindingNode target, IHeuristicCalculator hc)
{
pq.Add(source);
while (pq.count > 0)
{
IPathfindingNode nextClosestNode = pq.PopFirst();
if (searchFrontier.ContainsKey(nextClosestNode))
{
GraphEdge nearestEdge = searchFrontier[nextClosestNode];
if (shortestPahTree.ContainsKey(nextClosestNode))
{
shortestPahTree[nextClosestNode] = nearestEdge;
}
else
{
shortestPahTree.Add(nextClosestNode, nearestEdge);
}
}
if (nextClosestNode == target)
{
ConstructPath(source, target);
return(true);
}
List <GraphEdge> frontier = graph.GetFrontier(nextClosestNode);
for (int i = 0; i < frontier.Count; i++)
{
GraphEdge frontierEdge = frontier[i];
IPathfindingNode neighbour = frontierEdge.to;
float realCost = nextClosestNode.RealNodeCost + frontierEdge.cost;
float heuristicCost = hc.Calculate(neighbour, target);
float totalCost = nextClosestNode.TotalNodeCost + frontierEdge.cost;
if (searchFrontier.ContainsKey(neighbour) == false)
{
neighbour.TotalNodeCost = totalCost;
neighbour.RealNodeCost = realCost;
searchFrontier.Add(neighbour, frontierEdge);
pq.Add(neighbour);
}
else if (realCost < neighbour.RealNodeCost)
{
neighbour.TotalNodeCost = totalCost;
neighbour.RealNodeCost = realCost;
pq.MarkToSort();
searchFrontier[neighbour] = frontierEdge;
}
}
}
return(false);
}
private void ConstructPath(IPathfindingNode source, IPathfindingNode target)
{
GraphEdge edge = shortestPahTree[target];
while (edge.from != source)
{
shortestPath.Add(edge.from);
edge = shortestPahTree[edge.from];
}
shortestPath.Reverse();
}
private GraphEdge FindEdge(IPathfindingNode from, IPathfindingNode to)
{
for (int i = 0; i < edges.Count; i++)
{
GraphEdge e = edges[i];
if (e.from == from && e.to == to)
{
return(e);
}
}
return(null);
}
public bool AddEdge(GraphEdge e)
{
if (edges.Contains(e))
{
return(false);
}
edges.Add(e);
AddToFrontier(e);
if (directed == false)
{
GraphEdge inverted = new GraphEdge(e.to, e.from, e.cost);
edges.Add(inverted);
AddToFrontier(inverted);
}
return(true);
}
public bool RemoveEdge(GraphEdge e)
{
if (edges.Remove(e))
{
List <GraphEdge> frontier = nodeFrontiers[e.from];
frontier.Remove(e);
if (directed == false)
{
GraphEdge inverted = FindEdge(e.to, e.from);
if (inverted != null)
{
edges.Remove(inverted);
frontier = nodeFrontiers[inverted.from];
frontier.Remove(inverted);
}
}
return(true);
}
return(false);
}
