//check the closed list to see if the path points are within the list
bool CheckClosedList(STR_ID currentNodeID, STR_ID NeighbourID)
{
bool exists = false;
for (int i = 0; i < closed.Count; i++)
{
if (closed[i].ReturningParentNode() != null)
{
STR_ID currentPointID = closed[i].ReturningMainNode().returnID();
STR_ID neighbourPointID = closed[i].ReturningParentNode().returnID();
if (currentNodeID.Compare(currentPointID) && NeighbourID.Compare(neighbourPointID))
{
exists = true;
}
if (currentNodeID.Compare(neighbourPointID) && NeighbourID.Compare(currentPointID))
{
exists = true;
}
}
}
return(exists);
}
public bool Compare(STR_ID nodeID)
{
bool Comparison = false;
if (nodeID.body == body)
{
Comparison = true;
}
return(Comparison);
}
//will add any potential neighbouring nodes to the potential path list if they haven't already, will check to see if the path has reached the goal
void CalculateNeighbours()
{
List <STR_ID> neighbours = currentNode.ReturnNeighbours();
for (int i = 0; i < neighbours.Count; i++)
{
SCR_NodeClass neighbourNode = nodeManager.ReturnNode(neighbours[i]);
STR_ID currentNeighbourID = neighbourNode.returnID();
STR_ID currentNodeID = currentNode.returnID();
if (currentNodeID.Compare(currentNeighbourID) == false)
{
if (listOfNodes.Contains(neighbourNode))
{
if (neighbourNode.ReturnRoomType() != RoomType.BlockedRoute)
{
var current = new CalculatePath(neighbourNode, currentNode);
if (neighbourNode.ReturnRoomType() == RoomType.InitialFightRoom || neighbourNode.ReturnRoomType() == RoomType.ChallangeRoom)
{
if (!finalPathPoints.Contains(neighbourNode))
{
closed.Add(current);
}
}
if ((!open.Contains(current)) && (!closed.Contains(current)))
{
if (CheckOpenList(currentNodeID, currentNeighbourID) == false && CheckClosedList(currentNodeID, currentNeighbourID) == false)
{
open.Add(current);
}
}
}
}
}
}
closed.Add(open[currentPos]);
Vector3 endPos = goal.returnID().body.transform.position;
STR_ID currentID = currentNode.returnID();
Vector3 currentPosition = currentNode.returnID().body.transform.position;
if (currentNode == goal)
{
pathfound = true;
pathEnd = closed.Count - 1;
}
open.Remove(open[currentPos]);
}
//return a node within the map structure, requires a node ID
public SCR_NodeClass ReturnNode(STR_ID nodeID)
{
SCR_NodeClass node = new SCR_NodeClass();
for (int i = 0; i < nodes.Count; i++)
{
if (nodeID.Compare(nodes[i].returnID()))
{
node = nodes[i];
}
}
return(node);
}
//add a neighbouring node to the current node, requires the neighbours ID
public void AddNeighbour(STR_ID neighbourID)
{
bool InList = false;
for (int i = 0; i < nodeNeigbours.Count; i++)
{
if (neighbourID.Compare(nodeNeigbours[i]))
{
InList = true;
}
}
if (InList == false)
{
nodeNeigbours.Add(neighbourID);
}
}
//remove a neighbour from the current node, requires the neighbours ID
public void RemoveNeighbour(STR_ID neighbourID)
{
bool InList = false;
int position = 0;
for (int i = 0; i < nodeNeigbours.Count; i++)
{
if (neighbourID.Compare(nodeNeigbours[i]))
{
InList = true;
position = i;
}
}
if (InList == true)
{
nodeNeigbours.RemoveAt(position);
}
}
//Will select the next point to review within the map
void CalculatePoint()
{
float Fcost = 10000000.0f;
Vector3 startPos = start.returnID().body.transform.position;
Vector3 endPos = goal.returnID().body.transform.position;
for (int i = 0; i < open.Count; i++)
{
STR_ID currentID = open[i].ReturningMainNode().returnID();
var CurrentFCost = CalculateCost(currentID.body.transform.position, startPos) + CalculateCost(currentID.body.transform.position, endPos);
if (CurrentFCost < Fcost)
{
Fcost = CurrentFCost;
currentNode = open[i].ReturningMainNode();
currentPos = i;
}
}
}
//remove a node from the list, requires a node ID
public void RemoveNode(STR_ID nodeID)
{
for (int i = 0; i < nodes.Count; i++)
{
SCR_NodeClass currentNode = nodes[i];
List <STR_ID> currentNeighbours = currentNode.ReturnNeighbours();
if (nodeID.Compare(currentNode.returnID()))
{
nodes.RemoveAt(i);
}
for (int j = 0; j < currentNeighbours.Count; j++)
{
if (nodeID.Compare(currentNeighbours[j]))
{
nodes[i].RemoveNeighbour(j);
}
}
}
}
//set a nodes ID
public void SetID(STR_ID newID)
{
nodeID = newID;
}
//set up class
public SCR_NodeClass()
{
nodeID = new STR_ID();
nodeNeigbours = new List <STR_ID>();
roomType = RoomType.SecondaryPathway;
}
public SCR_NodeIDClass()
{
currentNodeID = new STR_ID();
}
