public override bool Equals(object obj)
{
RoomGroup other = (RoomGroup)obj;
return(room == other.room && group == other.group);
}
private MimanPath AStar(Ting pStart, Ting pGoal)
{
if (pStart.room == pGoal.room)
{
return(new MimanPath()
{
status = MimanPathStatus.IN_THE_SAME_ROOM_ALREADY
});
}
var visited = new HashSet <RoomGroup>();
var startGroup = RoomGroup.FromTing(pStart);
var goalGroup = RoomGroup.FromTing(pGoal);
RoomGroupNode startNode = new RoomGroupNode()
{
roomGroup = startGroup,
gscore = 0f,
fscore = CostEstimate(startGroup, goalGroup),
hasBeenTouched = true,
depth = 0,
};
var unvisited = new List <RoomGroupNode>()
{
startNode
};
int iterations = 0;
while (unvisited.Count > 0)
{
iterations++;
if (iterations > 1000)
{
D.Log("Hit maximum iterations when doing MimanPathfinder2 search from " + pStart.position + " to " + pGoal.position);
return(new MimanPath()
{
status = MimanPathStatus.NO_PATH_FOUND,
iterations = iterations,
tings = new Ting[] {},
});
}
RoomGroupNode current = GetCheapest(unvisited);
if (current.prev != null)
{
current.depth = current.prev.depth + 1;
}
#if LOG
Console.WriteLine("Current node: " + current + ", with gscore " + current.gscore + " and depth: " + current.depth);
#endif
if (current.roomGroup.Equals(goalGroup))
{
return(new MimanPath()
{
status = MimanPathStatus.FOUND_GOAL,
tings = GetListOfTingsLeadingThroughRoomGroups(current),
iterations = iterations,
});
}
unvisited.Remove(current);
visited.Add(current.roomGroup);
Dictionary <RoomGroup, Ting> linkedRooms = null;
if (!_roomNetwork.linkedRoomGroups.TryGetValue(current.roomGroup, out linkedRooms))
{
linkedRooms = new Dictionary <RoomGroup, Ting>();
}
#if LOG
Console.WriteLine("Nr of linked rooms: " + linkedRooms.Count);
#endif
List <RoomGroupNode> neighbours = new List <RoomGroupNode>();
foreach (var roomGroup in linkedRooms.Keys)
{
neighbours.Add(new RoomGroupNode()
{
roomGroup = roomGroup,
});
}
foreach (RoomGroupNode neighbour in neighbours)
{
#if LOG
Console.WriteLine("Testing out neighbour " + neighbour);
#endif
float tentativeGScore = current.gscore + ActualCost(current.roomGroup, neighbour.roomGroup);
bool hasBeenVisited = visited.Contains(neighbour.roomGroup);
if (hasBeenVisited && tentativeGScore > neighbour.gscore)
{
#if LOG
//Console.WriteLine("It has been visited and its score is too high, lets skip it");
#endif
continue;
}
#if LOG
//Console.WriteLine("Tentative gscore: " + tentativeGScore + ", neighbour score: " + neighbour.gscore);
#endif
if (!neighbour.hasBeenTouched || tentativeGScore < neighbour.gscore)
{
neighbour.hasBeenTouched = true;
neighbour.prev = current;
neighbour.gscore = tentativeGScore;
neighbour.fscore = neighbour.gscore + CostEstimate(neighbour.roomGroup, goalGroup);
if (!unvisited.Contains(neighbour))
{
#if LOG
//Console.WriteLine("Adding neighbour " + neighbour.ting.name + " to unvisited list.");
#endif
unvisited.Add(neighbour);
}
}
}
}
return(new MimanPath()
{
status = MimanPathStatus.NO_PATH_FOUND,
iterations = iterations,
tings = new Ting[] {},
});
}
