public static Dictionary <IPathfindingNode, double> GetMovementCostArray(IPathfindingNode startNode, PathfindingType pathfindingType, int maxCost)
{
IPathfindingNode[] neighbourNodes = null;
IPathfindingNode neighbourNode;
cameFromArray.Clear();
costSoFarArray.Clear();
frontier.Clear();
currentNode = null;
frontier.Enqueue(startNode, 0);
cameFromArray[startNode] = null;
costSoFarArray[startNode] = 0.0;
while (frontier.NumItems > 0)
{
currentNode = frontier.Dequeue();
//float startTime = Time.realtimeSinceStartup;
neighbourNodes = currentNode.GetConnectedNodes().ToArray();
for (int i = 0; i < neighbourNodes.Length; i++)
{
neighbourNode = neighbourNodes[i];
if (neighbourNode != null && neighbourNode != startNode &&
(neighbourNode.IsEmpty || pathfindingType == PathfindingType.Air))
{
//stepCost = GetTransportTimeToNextTileInDirection(currentPathfindingNode, i, isDirect);
stepCost = 1;
costSoFarArray.TryGetValue(neighbourNode, out currentLowestCost);
newCost = currentLowestCost + stepCost;
if ((currentLowestCost <= 0 || newCost < currentLowestCost) && newCost <= maxCost)
{
costSoFarArray[neighbourNode] = newCost;
//if (pathfindingType == PathfindingType.Tile)
//{
//priority = 1.0 / (newCost + heuristic(endPathfindingNode, neighbourPathfindingNode));
//} else
//{
priority = 1.0 / newCost;
//}
frontier.Enqueue(neighbourNode, priority);
cameFromArray[neighbourNode] = currentNode;
}
}
}
}
return(costSoFarArray);
}
public static Path GetPathOfTypeForUnit(IPathfindingNode startNode, IPathfindingNode endNode,
PathfindingType pathfindingType, NodeUnit unit)
{
IPathfindingNode[] neighbourNodes = null;
IPathfindingNode neighbourNode;
cameFromArray.Clear();
costSoFarArray.Clear();
frontier.Clear();
currentNode = null;
frontier.Enqueue(startNode, 0);
cameFromArray[startNode] = null;
costSoFarArray[startNode] = 0.0;
while (frontier.NumItems > 0)
{
currentNode = frontier.Dequeue();
//float startTime = Time.realtimeSinceStartup;
if (currentNode == endNode)
{
//float endTime = Time.realtimeSinceStartup;
//float totalTime = endTime - startTime;
path = new Path(startNode, currentNode, cameFromArray, costSoFarArray);
return(path);
}
neighbourNodes = currentNode.GetConnectedNodes().ToArray();
for (int i = 0; i < neighbourNodes.Length; i++)
{
neighbourNode = neighbourNodes[i];
if (neighbourNode != null && neighbourNode != startNode &&
(!neighbourNode.BlocksUnit(unit) || pathfindingType == PathfindingType.Air))
{
stepCost = currentNode.GetConnectionToNode(neighbourNode)._movementPointCost;
bool hasFoundCost = costSoFarArray.TryGetValue(neighbourNode, out currentLowestCost);
var costSoFar = costSoFarArray[currentNode];
newCost = costSoFar + stepCost;
if (currentLowestCost <= 0 || newCost < currentLowestCost)
{
costSoFarArray[neighbourNode] = newCost;
//if (pathfindingType == PathfindingType.Tile)
//{
//priority = 1.0 / (newCost + heuristic(endPathfindingNode, neighbourPathfindingNode));
//} else
//{
priority = 1.0 / newCost;
//}
frontier.Enqueue(neighbourNode, priority);
cameFromArray[neighbourNode] = currentNode;
}
}
}
}
return(null);
}
