private void Set(PathNode node)
{
openList.Remove(node);
closedList.Add(node);
PathNode newNode;
foreach (Coords node_nb in node.node.neighbours)
{
Environment.Node neighbour = Environment.instance[node_nb.x, node_nb.y];
if (closedListContains(node_nb) != -1)
{
continue;
}
int index = openListContains(node_nb); //add neighbours to open list
if (index == -1)
{
newNode = new PathNode(neighbour, node, targetNode.coords);
openList.Add(newNode);
if (Equals(neighbour, targetNode))
{
foundTarget = true; break;
} //check if it is destination
}
else //repartent if needed
{
if (openList[index].gValue > node.gValue + node.movementCost(node.node.coords, openList[index].node.coords))
{
newNode = new PathNode(openList[index].node, node, targetNode.coords);
openList[index] = newNode;
}
}
}
}
public PathNode(Environment.Node node, PathNode parent, Coords target)
{
this.node = node;
this.parent = parent;
if (parent != null)
{
this.gValue = movementCost(node.coords, parent.node.coords);
}
else
{
gValue = 0;
}
hValue = Mathf.Abs(target.x - node.coords.x) + Mathf.Abs(target.y - node.coords.y);
}
private void show()
{
foreach (Environment.Node nd in Environment.instance)
{
GameObject d;
try {
d = new GameObject("node: " + nd.coords.x + "," + nd.coords.y);
} catch (NullReferenceException e) { continue; }
d.transform.position = nd.worldLocation;
byte x = 0;
foreach (Coords nbCoords in nd.neighbours)
{
Environment.Node nb = Environment.instance[nbCoords.x, nbCoords.y];
var c = new GameObject("nb: " + nb.coords.x + "," + nb.coords.y + " dir: " + nd.direction[x]);
c.transform.position = nb.worldLocation;
c.transform.SetParent(d.transform);
x++;
}
}
}
public Pathfinding(Vector2 from, Vector2 to, MonoBehaviour a)
{
startNode = Environment.Position2Node(from);
targetNode = Environment.Position2Node(to);
Start();
}
public PathNode(Environment.Node node, PathNode parent, Coords target)
{
this.node = node;
this.parent = parent;
if (parent != null)
this.gValue = movementCost(node.coords, parent.node.coords);
else
gValue = 0;
hValue = Mathf.Abs(target.x - node.coords.x)+Mathf.Abs(target.y - node.coords.y);
}
public Pathfinding(Vector2 from, Vector2 to, MonoBehaviour a)
{
startNode = Environment.Position2Node(from);
targetNode = Environment.Position2Node(to);
Start();
}
private bool Equals(Environment.Node a, Environment.Node b)
{
return(a.coords.x == b.coords.x && a.coords.y == b.coords.y);
}
