public void StartShortestPath(PathfinderTile start, PathfinderTile end)
{
this.start = start;
this.end = end;
shortestPath = null;
shortestPathThread = new System.Threading.Thread(ShortestPath);
shortestPathThread.Start();
}
void Update()
{
PathfinderPath shortest = finder.CheckShortestPath();
if (shortest != null)
{
Debug.Log(shortest.ToString());
clickedUnit.MovePath = shortest;
finder.ClearShortestPath();
}
}
public PathfinderPath Clone()
{
PathfinderPath path = new PathfinderPath();
for (int i = 0; i < tileList.Count; i++)
{
path.tileList.Add(tileList[i]);
}
path.cost = cost;
return(path);
}
private void ShortestPath()
{
Debug.Log("Shortest path between " + start.ToString() + " and " + end.ToString());
List <PathfinderTile> explored = new List <PathfinderTile> ();
List <PathfinderPath> frontier = new List <PathfinderPath> ();
PathfinderPath path = new PathfinderPath();
path.AddTile(start);
frontier.Add(path);
while (true)
{
if (frontier.Count == 0)
{
shortestPath = new PathfinderPath(); //failed to find a path
return;
}
double lowestCost = double.MaxValue;
int lowestCostIndex = 0;
for (int i = 0; i < frontier.Count; i++)
{
if (frontier[i].Cost < lowestCost)
{
lowestCost = frontier[i].Cost;
lowestCostIndex = i;
}
}
path = frontier[lowestCostIndex];
if (path.End.Equals(end))
{
shortestPath = path;
return;
}
frontier.RemoveAt(lowestCostIndex);
explored.Add(path.End);
List <PathfinderTile> neighbors = path.End.GetNeighbors();
for (int i = 0; i < neighbors.Count; i++)
{
if (!explored.Contains(neighbors[i]))
{
int index = -1;
for (int j = 0; j < frontier.Count; j++)
{
if (frontier[j].End.Equals(neighbors[i]))
{
index = j;
break;
}
}
if (index < 0)
{
PathfinderPath neighborPath = path.Clone();
neighborPath.AddTile(neighbors[i]);
if (!double.IsNaN(neighborPath.Cost))
{
frontier.Add(neighborPath);
}
}
else if (frontier[index].Cost < path.Cost)
{
path = frontier[index];
}
}
}
}
}
public void ClearShortestPath()
{
shortestPath = null;
}
