public void AddConnection(PathfindingNode nodeA, PathfindingNode nodeB, int cost)
{
if (!_nodes.Contains(nodeA))
{ _nodes.Add(nodeA); }
if (!_nodes.Contains(nodeB))
{ _nodes.Add(nodeB); }
NodeConnection connection = new NodeConnection(nodeA, nodeB, cost);
_connections.Add(connection);
}
public List <Node> GetShortestPath()
{
//Set first node
KeyValuePair <string, NodeConnection> node = new KeyValuePair <string, NodeConnection>(_origin.ID.ToString(), OpenList[_origin.ID.ToString()]);
//Add first path position
node.Value.Connection.Add(node.Value.nextNode);
//Compute shortestPath
while (true)
{
//If current node is goal node, we have a path to return. It is most likely to be close to being the shortest or the shortest.
if (node.Value.nextNode.ID == Destination.ID)
{
break;
}
//For each link associated with the current node, add them to the open list and deal with duplicate nodes in the open list and closed list to overwrite those with irrelevant or longer paths.
for (int i = 0; i < node.Value.nextNode.Links.Count; i++)
{
Link currentLink = node.Value.nextNode.Links[i];
string ID = currentLink.node.ID.ToString();
NodeConnection nodetoAdd = new NodeConnection();
nodetoAdd.ID = currentLink.node.ID;
nodetoAdd.costSoFar = node.Value.costSoFar + currentLink.weight;
nodetoAdd.Connection = node.Value.Connection.ToList();
nodetoAdd.Connection.Add(currentLink.node);
nodetoAdd.EstimatedCostSoFar = nodetoAdd.costSoFar + (_destination.position - currentLink.node.position).Length();
nodetoAdd.nextNode = currentLink.node;
//Add Node tp list of all opened nodes ever visited if it doesn't exist
if (!NodesOpened.Contains(currentLink.node))
{
NodesOpened.Add(currentLink.node);
}
//Add node to open list or update open node in the open list if the current cost so far is smaller
if (!OpenList.ContainsKey(ID))
{
OpenList.Add(ID, nodetoAdd);
}
else
{
if (OpenList[ID].costSoFar > nodetoAdd.costSoFar)
{
OpenList[ID] = nodetoAdd;
}
}
}
//Add node to the closed list or update the node in the closed list if the current node has a smaller cost so far and put it back in the open list
if (!ClosedList.ContainsKey(node.Key))
{
ClosedList.Add(node.Key, node.Value);
}
else
{
if (ClosedList[node.Key].costSoFar > node.Value.costSoFar)
{
ClosedList[node.Key] = node.Value;
OpenList.Add(node.Key, ClosedList[node.Key]);
}
}
//Remove processed node from the open list
OpenList.Remove(node.Key);
//Obtain new node with the smallest estimated cost so far
node = new KeyValuePair <string, NodeConnection>();
foreach (KeyValuePair <string, NodeConnection> nConn in OpenList)
{
if (node.Key == null)
{
node = nConn;
continue;
}
if (nConn.Value.EstimatedCostSoFar < node.Value.EstimatedCostSoFar)
{
node = nConn;
continue;
}
}
}
//Path finding completed, return sequence of nodes to travel
Completed = true;
return(node.Value.Connection);
}
public List<Node> GetShortestPath()
{
//Set first node
KeyValuePair<string, NodeConnection> node = new KeyValuePair<string, NodeConnection>(_origin.ID.ToString(), OpenList[_origin.ID.ToString()]);
//Add first path position
node.Value.Connection.Add(node.Value.nextNode);
//Compute shortestPath
while (true)
{
//If current node is goal node, we have a path to return. It is most likely to be close to being the shortest or the shortest.
if (node.Value.nextNode.ID == Destination.ID)
break;
//For each link associated with the current node, add them to the open list and deal with duplicate nodes in the open list and closed list to overwrite those with irrelevant or longer paths.
for (int i = 0; i < node.Value.nextNode.Links.Count; i++)
{
Link currentLink = node.Value.nextNode.Links[i];
string ID = currentLink.node.ID.ToString();
NodeConnection nodetoAdd = new NodeConnection();
nodetoAdd.ID = currentLink.node.ID;
nodetoAdd.costSoFar = node.Value.costSoFar + currentLink.weight;
nodetoAdd.Connection = node.Value.Connection.ToList();
nodetoAdd.Connection.Add(currentLink.node);
nodetoAdd.EstimatedCostSoFar = nodetoAdd.costSoFar + (_destination.position - currentLink.node.position).Length();
nodetoAdd.nextNode = currentLink.node;
//Add Node tp list of all opened nodes ever visited if it doesn't exist
if (!NodesOpened.Contains(currentLink.node))
{
NodesOpened.Add(currentLink.node);
}
//Add node to open list or update open node in the open list if the current cost so far is smaller
if (!OpenList.ContainsKey(ID))
{
OpenList.Add(ID, nodetoAdd);
}
else
{
if (OpenList[ID].costSoFar > nodetoAdd.costSoFar)
{
OpenList[ID] = nodetoAdd;
}
}
}
//Add node to the closed list or update the node in the closed list if the current node has a smaller cost so far and put it back in the open list
if (!ClosedList.ContainsKey(node.Key))
{
ClosedList.Add(node.Key, node.Value);
}
else
{
if (ClosedList[node.Key].costSoFar > node.Value.costSoFar)
{
ClosedList[node.Key] = node.Value;
OpenList.Add(node.Key, ClosedList[node.Key]);
}
}
//Remove processed node from the open list
OpenList.Remove(node.Key);
//Obtain new node with the smallest estimated cost so far
node = new KeyValuePair<string, NodeConnection>();
foreach (KeyValuePair<string, NodeConnection> nConn in OpenList)
{
if (node.Key == null)
{
node = nConn;
continue;
}
if (nConn.Value.EstimatedCostSoFar < node.Value.EstimatedCostSoFar)
{
node = nConn;
continue;
}
}
}
//Path finding completed, return sequence of nodes to travel
Completed = true;
return node.Value.Connection;
}