private Path GetNewPathDestination()
{
if (knowsObjLocation)
{
return(Utilities.AStar(Utilities.GetNodeFromNodeIndex(NodeTable.instance.GetNodesList(), NodeTable.instance.GetCurrentNodeIndex()), Utilities.GetNodeFromNodeIndex(NodeTable.instance.GetNodesList(), objectiveLocation)));
}
List <PathDestinationCandidate> canditates = new List <PathDestinationCandidate>();
// Debug.Log("-----------------------------");
for (int i = 0; i < aiBehaviour.nodeTable.nonVisitedNodes.Count; i++)
{
//The non discovered connections must lead to, at least, one non known node
int promisingValue = aiBehaviour.nodeTable.nonVisitedNodes[i].GetPromissingValue();
if (promisingValue > 0)
{
PathDestinationCandidate newCandidate = new PathDestinationCandidate(aiBehaviour.nodeTable.nonVisitedNodes[i], promisingValue);
//Debug.Log("Adicionou candidato line " + aiBehaviour.nodeTable.nonVisitedNodes[i].GetNodeIndex().line + " column " + aiBehaviour.nodeTable.nonVisitedNodes[i].GetNodeIndex().column);
canditates.Add(newCandidate);
}
//If thet node is not a promissing one, remove from the list to avoid future validations
else
{
aiBehaviour.nodeTable.nonVisitedNodes.RemoveAt(i);
}
}
int chosen = 0;
int chosenSize = 100;
int chosenValue = -100;
List <Path> paths = new List <Path>();
for (int i = 0; i < canditates.Count; i++)
{
Path path = Utilities.AStar(Utilities.GetNodeFromNodeIndex(NodeTable.instance.GetNodesList(), NodeTable.instance.GetCurrentNodeIndex()), canditates[i].GetNode());
path.SetPromissingValue(canditates[i].GetPromissingValue());
paths.Add(path);
}
List <Path> minimunPath = new List <Path>();
for (int i = 0; i < paths.Count; i++)
{
int pathSize = paths[i].GetNodesList().Count;
if (pathSize < chosenSize)
{
chosenSize = pathSize;
minimunPath.Clear();
minimunPath.Add(paths[i]);
}
else if (pathSize == chosenSize)
{
minimunPath.Add(paths[i]);
}
// Path path = Utilities.AStar(Utilities.GetNodeFromNodeIndex(NodeTable.instance.GetNodesList(), NodeTable.instance.GetCurrentNodeIndex()), canditates[i].GetNode());
}
for (int i = 0; i < minimunPath.Count; i++)
{
int pathValue = minimunPath[i].GetPromissingValue();
if (pathValue > chosenValue)
{
chosenValue = pathValue;
chosen = i;
}
// Path path = Utilities.AStar(Utilities.GetNodeFromNodeIndex(NodeTable.instance.GetNodesList(), NodeTable.instance.GetCurrentNodeIndex()), canditates[i].GetNode());
}
return(minimunPath[chosen]);
}