//~ public List<Node> GetNeighbouringNode(Node origin, Node node, int iteration){
//~ float gridSize=Node.GetGridSize();
//~ List<Node> nodeList=new List<Node>();
//~ foreach(Node node in node.neighbourNode){
//~ if(Vector3.Distance(node.pos, origin.pos)<gridSize*1.5f){
//~ nodeList.Add(node);
//~ }
//~ }
//~ }
//make cause system to slow down, use with care
static public List <Vector3> ForceSearch(NodeTD startN, NodeTD endN, NodeTD blockN, NodeTD[] graph, int footprint)
{
if (blockN != null)
{
blockN.walkable = false;
//Debug.Log("block reference node");
List <NodeTD> tempList = GetNodeInFootprint(blockN, footprint);
//Debug.Log(footprint+" "+tempList.Count);
foreach (NodeTD node in tempList)
{
node.walkable = false;
}
}
bool pathFound = true;
int searchCounter = 0; //used to count the total amount of node that has been searched
List <NodeTD> closeList = new List <NodeTD>();
NodeTD[] openList = new NodeTD[graph.Length];
List <int> openListRemoved = new List <int>();
int openListCounter = 0;
NodeTD currentNode = startN;
float currentLowestF = Mathf.Infinity;
int id = 0; //use element num of the node with lowest score in the openlist during the comparison process
int i = 0; //universal int value used for various looping operation
while (true)
{
if (currentNode == endN)
{
break;
}
closeList.Add(currentNode);
currentNode.listState = _ListStateTD.Close;
currentNode.ProcessNeighbour(endN);
foreach (NodeTD neighbour in currentNode.neighbourNode)
{
if (neighbour.listState == _ListStateTD.Unassigned && neighbour.walkable)
{
neighbour.listState = _ListStateTD.Open;
if (openListRemoved.Count > 0)
{
openList[openListRemoved[0]] = neighbour;
openListRemoved.RemoveAt(0);
}
else
{
openList[openListCounter] = neighbour;
openListCounter += 1;
}
}
}
currentNode = null;
currentLowestF = Mathf.Infinity;
id = 0;
for (i = 0; i < openListCounter; i++)
{
if (openList[i] != null)
{
if (openList[i].scoreF < currentLowestF)
{
currentLowestF = openList[i].scoreF;
currentNode = openList[i];
id = i;
}
}
}
if (currentNode == null)
{
pathFound = false;
break;
}
openList[id] = null;
openListRemoved.Add(id);
searchCounter += 1;
}
//~ float timeUsed=Time.realtimeSinceStartup-timeStart;
//~ if(pathFound) Debug.Log("Path found. Searched "+searchCounter+" nodes, used "+timeUsed+"seconds");
//~ else Debug.Log("no path. Searched "+searchCounter+" nodes, used "+timeUsed+"seconds");
List <Vector3> p = new List <Vector3>();
if (pathFound)
{
while (currentNode != null)
{
p.Add(currentNode.pos);
currentNode = currentNode.parent;
}
p = InvertArray(p);
//if(pathFinder.pathSmoothing) {
// p=pathFinder.LOSPathSmoothingBackward(p);
// p=pathFinder.LOSPathSmoothingForward(p);
//}
}
if (blockN != null)
{
blockN.walkable = true;
//Debug.Log("unblock reference node");
List <NodeTD> tempList = GetNodeInFootprint(blockN, footprint);
foreach (NodeTD node in tempList)
{
node.walkable = true;
}
}
ResetGraph(graph);
return(p);
}
IEnumerator _Search(NodeTD startN, NodeTD endN, NodeTD blockN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
//~ foreach(NodeTD nn in graph){
//~ DebugDrawTD.Cross(nn.pos, nn.walkable!=true ? Color.red : Color.white, 6);
//~ DebugDrawTD.Square(nn.pos, nn.neighbourNode==null ? Color.red : Color.white, 6);
//~ }
//block node is for checking if a path exist if that particular node is block
if (blockN != null)
{
//var switched:boolean=true;
//if(block.walkable) block.walkable=false;
//else switched=false;
blockN.walkable = false;
}
//time tracker for performance check
float timeStart = Time.realtimeSinceStartup;
//mark that a serac has started, any further query will be queued
searching = true;
bool pathFound = true;
int searchCounter = 0; //used to count the total amount of node that has been searched
int loopCounter = 0; //used to count how many node has been search in the loop, if it exceed a value, bring it to the next frame
//float LoopTime=Time.realtimeSinceStartup;
//closelist, used to store all the node that are on the path
List <NodeTD> closeList = new List <NodeTD>();
//openlist, all the possible node that yet to be on the path, the number can only be as much as the number of node in the garph
NodeTD[] openList = new NodeTD[graph.Length];
//an array use to record the element number in the open list which is empty after the node is removed to be use as currentNode,
//so we can use builtin array with fixed length for openlist, also we can loop for the minimal amount of node in every search
List <int> openListRemoved = new List <int>();
//current count of elements that are occupied in openlist, openlist[n>openListCounter] are null
int openListCounter = 0;
//set start as currentNode
NodeTD currentNode = startN;
//use to compare node in the openlist has the lowest score, alwyas set to Infinity when not in used
float currentLowestF = Mathf.Infinity;
int id = 0; //use element num of the node with lowest score in the openlist during the comparison process
int i = 0; //universal int value used for various looping operation
//loop start
while (true)
{
//if we have reach the destination
if (currentNode == endN)
{
break;
}
//for gizmo debug purpose
//currentNodeBeingProcess=currentNode;
//move currentNode to closeList;
closeList.Add(currentNode);
currentNode.listState = _ListStateTD.Close;
//loop through the neighbour of current loop, calculate score and stuff
currentNode.ProcessNeighbour(endN);
//put all neighbour in openlist
foreach (NodeTD neighbour in currentNode.neighbourNode)
{
if (neighbour.listState == _ListStateTD.Unassigned && neighbour.walkable)
{
//set the node state to open
neighbour.listState = _ListStateTD.Open;
//if there's an open space in openlist, fill the space
if (openListRemoved.Count > 0)
{
openList[openListRemoved[0]] = neighbour;
//remove the number from openListRemoved since this element has now been occupied
openListRemoved.RemoveAt(0);
}
//else just stack on it and increase the occupication counter
else
{
openList[openListCounter] = neighbour;
openListCounter += 1;
}
}
}
//clear the current node, before getting a new one, so we know if there isnt any suitable next node
currentNode = null;
//get the next point from openlist, set it as current point
//just loop through the openlist until we reach the maximum occupication
//while that, get the node with the lowest score
currentLowestF = Mathf.Infinity;
id = 0;
for (i = 0; i < openListCounter; i++)
{
if (openList[i] != null)
{
if (openList[i].scoreF < currentLowestF)
{
currentLowestF = openList[i].scoreF;
currentNode = openList[i];
id = i;
}
}
}
//if there's no node left in openlist, path doesnt exist
if (currentNode == null)
{
pathFound = false;
break;
}
//remove the new currentNode from openlist
openList[id] = null;
//put the id into openListRemoved so we know there's an empty element that can be filled in the next loop
openListRemoved.Add(id);
//increase the counter
searchCounter += 1;
loopCounter += 1;
//if exceed the search limit per frame, bring the search to the next frame
if (loopCounter > ScanNodeLimitPerFrame)
{
loopCounter = 0; //reset the loopCounter for the next frame
yield return(null);
}
}
//see how long it has taken to complete the search
//float timeUsed=Time.realtimeSinceStartup-timeStart;
//if(pathFound) Debug.Log("Path found. Searched "+searchCounter+" nodes, used "+timeUsed+"seconds");
//else Debug.Log("no path. Searched "+searchCounter+" nodes, used "+timeUsed+"seconds");
//trace back the path through closeList
List <Vector3> p = new List <Vector3>();
if (pathFound)
{
//track back the node's parent to form a path
while (currentNode != null)
{
p.Add(currentNode.pos);
currentNode = currentNode.parent;
}
//since the path is now tracked from endN ot startN, invert the list
p = InvertArray(p);
//~ if(pathSmoothing) {
//~ //Debug.Log("smoothing path");
//~ p=LOSPathSmoothingBackward(p);
//~ p=LOSPathSmoothingForward(p);
//~ }
if (pathSmoothing == _PathSmoothing.Mean)
{
p = MeanSmoothPath(p);
}
else if (pathSmoothing == _PathSmoothing.LOS)
{
p = LOSPathSmoothingBackward(p);
p = LOSPathSmoothingForward(p);
}
//else Debug.Log("skip smoothing path");
}
//~ else Debug.Log("no path found");
//if this is just to check if a path is blocked, now we can clear the assumed blocked node
if (blockN != null)
{
blockN.walkable = true;
}
callBackFunc(p);
//reset the all the nodegraph's node state?
//Reset();
//clear searching so indicate the search has end and a new serach can be called
searching = false;
ResetGraph(graph);
}