private void Reset()
{
for (int y = 0; y < m_row; y++)
{
for (int x = 0; x < m_col; x++)
{
m_nodes[y, x].Reset();
}
}
m_startNode.SetSearchType(SearchType.Start, false);
m_goalNode.SetSearchType(SearchType.Goal, false);
m_algo = null;
}
protected override void Generate()
{
StopAllCoroutines();
Reset();
if (m_algo == null)
{
m_algo = GetAlgorithm();
}
if (m_algo != null)
{
StartCoroutine(m_algo.Process());
}
}
private BaseSearchAlgo GetAlgorithm()
{
BaseSearchAlgo algo = null;
switch (m_searchAlgo)
{
case SearchAlgo.A_Star:
algo = new AStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.Theta_Star:
algo = new ThetaStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.LazyTheta_Star:
algo = new LazyThetaStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BestFirstSearch:
algo = new BestFirstSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BreadthFirstSearch:
algo = new BreadthFirstSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.DijkstraSearch:
algo = new DijkstraSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.JPS:
algo = new JumpPointSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.JPSPlus:
algo = new JPSPlus(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BiA_Star:
algo = new BiAStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
#region Incremental
case SearchAlgo.D_Star:
algo = new DStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.FocussedD_Star:
algo = new FocussedDStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.LPA_Star:
algo = new LPAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
//algo = new LPAStar_Optimized(m_startNode, m_endNode, m_nodes, m_showTime);
break;
case SearchAlgo.DstarLite:
algo = new DStarLite(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.Path_AA_Star:
algo = new Path_AAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.Tree_AA_Star:
algo = new Tree_AAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
#endregion
#region Moving Target
case SearchAlgo.GAA_Star:
algo = new GAAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.GFRA_Star:
algo = new GFRAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.MT_DstarLite:
algo = new MT_DStarLite(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
#endregion
case SearchAlgo.AnnotatedA_Star:
algo = new AnnotatedAStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime, m_unitSize);
break;
default:
Debug.LogError($"No code for SearchAlgo={m_searchAlgo}");
break;
}
return(algo);
}
