public bool StartSearch(Vector2 startPos, Vector2 goalPos)
{
Reset();
startNode = groundNodeList[(int)startPos.x, (int)startPos.y];
goalNode = groundNodeList[(int)goalPos.x, (int)goalPos.y];
goalNode.SetMinimumCost(0);
List <GroundNode> list = new List <GroundNode>();
list.Add(goalNode);
while (list.Count > 0)
{
GroundNode tartgetNode = list[0];
foreach (GroundNode neighbor in tartgetNode.neighbors)
{
if (!neighbor.ground || (neighbor.ground && neighbor.ground.GetComponent <Ground>().life <= 0))
{
continue; //GroundのゲームオブジェクトがDestroyされている、またはlife0以下（まだDestroyはされていない）の場合はスキップする
}
if (neighbor.minimumCost == -1 ||
tartgetNode.minimumCost + 1 < neighbor.minimumCost)
{
neighbor.SetMinimumCost(tartgetNode.minimumCost + 1, tartgetNode);
list.Add(neighbor);
}
}
list.RemoveAt(0);
//最初にstartNodeに到達した経路が最短なので、今ループでstartNodeのminimumCostが確定したらループを抜ける
if (startNode.minimumCost != -1)
{
break;
}
}
//execute seach
//Search (goalNode);
//startNodeのminimumCostが-1なら到達できていないのでfalseを返す。それ以外はtrueを返す。
return(startNode.minimumCost != -1);
/*
* //return result
* List<GroundNode> list = new List<GroundNode> ();
*
* if (startNode.minimumCost != -1) {
* GroundNode currentNode = startNode;
* list.Add (currentNode);
* while(currentNode.nextNode is GroundNode) {
* list.Add (currentNode.nextNode);
* currentNode = currentNode.nextNode;
* }
* }
*
* return list;
*/
}
void Search(GroundNode tartgetNode)
{
//targetNodeのneighborsを探索
//Debug.Log ("Search!");
List <GroundNode> neighbors = tartgetNode.neighbors;
for (int i = 0; i < neighbors.Count; i++)
{
GroundNode neighbor = neighbors[i];
if (!neighbor.ground)
{
continue; //GroundのゲームオブジェクトがDestroyされている場合はスキップする
}
if (neighbor.minimumCost == -1 ||
tartgetNode.minimumCost + 1 < neighbor.minimumCost)
{
neighbor.SetMinimumCost(tartgetNode.minimumCost + 1, tartgetNode);
Search(neighbor);
}
}
}