public override void CalculatePath()
{
cameFrom = new Dictionary <Vector2, Vector2>();
costSoFar = new Dictionary <Vector2, double>();
var startPos = mapManager.startPosition;
var endPos = mapManager.endPosition;
var first = new SimplePriorityQueue <Vector2, double>();
first.Enqueue(startPos, 0);
cameFrom[startPos] = startPos;
costSoFar[startPos] = 0;
while (first.Count > 0)
{
var current = first.Dequeue();
if (current.Equals(endPos))
{
break;
}
foreach (var next in MapUtils.GetNeighbourTiles(current, mapManager.map))
{
double newCost = costSoFar[current] + 1; //changeable later - currently costs always 1
if (mapManager.map[next].state == TileState.Occupied) //if occupied by obstacle
{
continue;
}
if (!costSoFar.ContainsKey(next) || newCost < costSoFar[next])
{
var edge = MapUtils.FromVec2ToEdge(current - next);
mapManager.map[next].edge = MapUtils.GetOppositeEdge(edge);
costSoFar[next] = newCost;
double priority = newCost + Heuristic(next, endPos);
first.Enqueue(next, priority);
cameFrom[next] = current;
}
}
}
mapManager.GeneratePathway();
}
public override void CalculatePath()
{
var map = mapManager.map;
_first = new Queue <Vector2>();
_first.Enqueue(mapManager.startPosition);
_visited = new HashSet <Vector2>();
_visited.Add(mapManager.startPosition);
while (_first.Count > 0)
{
var current = _first.Dequeue();
if (current == mapManager.endPosition) //end when reaching end position
{
break;
}
foreach (var next in MapUtils.GetNeighbourTiles(current, mapManager.map))
{
if (map[next].state == TileState.Occupied) //if occupied by obstacle
{
continue;
}
if (_visited.Contains(next)) //if already checked
{
continue;
}
var edge = MapUtils.FromVec2ToEdge(current - next);
map[next].edge = MapUtils.GetOppositeEdge(edge);
_first.Enqueue(next);
_visited.Add(next);
}
}
mapManager.GeneratePathway();
}
