public static void NeighboursAndTJP(Informer start, Informer finish,
Node[,] nodesArray, out DebugInformationAlgorithm debugInfo)
{
var startNode = new Node(start, NodeState.Processed);
startNode.NormMatrix = nodesArray[startNode.X(), startNode.Y()].NormMatrix;
startNode.Distance = MetricsAStar(start, finish);
var startTreeNode = new Tree_Node(null, startNode);
var finishNode = new Node(finish, NodeState.Processed);
var sraightLinesFromStart = new StraightLinesFromNode(startNode);
var sraightLinesFromFinish = new StraightLinesFromNode(finishNode);
var neighbours = Neighbours(startTreeNode, nodesArray, finishNode);
var minMetrics = startNode.Distance;
var tempList = new List <Node>();
if (sraightLinesFromStart.Lines != null)
{
foreach (var lineFromFinish in sraightLinesFromFinish.Lines)
{
foreach (var line in sraightLinesFromStart.Lines)
{
var coordinates = StraightLine.Crossing(line, lineFromFinish);
if (coordinates != null && Reachable(nodesArray[coordinates.X, coordinates.Y], finishNode, nodesArray) &&
Reachable(startNode, nodesArray[coordinates.X, coordinates.Y], nodesArray))
{
var tempNode = new Node(nodesArray[coordinates.X, coordinates.Y]);
tempNode.Distance = Metrics(new Tree_Node(startTreeNode, tempNode), finishNode);
tempNode.TargetJP = true;
tempNode.DestinationToFinish = DestinationInverse(lineFromFinish.Destination);
tempNode.Visited = NodeState.Discovered;
if (tempNode.Distance < minMetrics)
{
minMetrics = tempNode.Distance;
tempList.Clear();
tempList.Add(tempNode);
}
else if (Math.Abs(tempNode.Distance - minMetrics) < 0.00000000001)
{
tempList.Add(tempNode);
}
}
}
}
}
var straightLines = StraightLinesFromNode.JoinLines(sraightLinesFromStart, sraightLinesFromFinish,
nodesArray);
debugInfo = new DebugInformationAlgorithm
{
From = startNode.InformerNode,
To = finishNode.InformerNode,
Observed = ToNodes(neighbours),
LinesFromFinish = straightLines,
CrossPoints = tempList,
Destroy = false
};
}
public void ShowFinalPathJPS()
{
if (StartInformer != null && FinishInformer != null)
{
var controller = GetComponentInChildren <Controller>();
var path = controller.JPS(StartInformer, FinishInformer);
var debugInfo = new DebugInformationAlgorithm
{
From = StartInformer,
To = FinishInformer,
FinalPathJPS = path,
Destroy = false
};
controller.InitializeDebugInfo();
controller.DebugManagerAStar.AddPath(debugInfo);
}
else
{
Debug.LogError("Enter proper arguments");
}
}
