public void checkNode_AModified2(int i, int j, Vector2 from, Vector2 to, Dictionary <int, ANode> open, Dictionary <int, ANode> closed, ANode best)
{
Vector2 curNe = new Vector2(i, j);
ANode curNeNode = new ANode(curNe, cost(from, curNe), cost(curNe, to), best);
float NewCost = best.costFromStart + 1f;
if (best.parent != null)
{
if (best.vector.x == curNe.x && best.vector.x == best.parent.vector.x)
{
NewCost = best.costFromStart + 1.1f;
}
if (best.vector.y == curNe.y && best.vector.y == best.parent.vector.y)
{
NewCost = best.costFromStart + 1.1f;
}
}
ANode foundOpen = null;
open.TryGetValue(ServiceData.posInTableA(curNe), out foundOpen);
ANode foundClosed = null;
closed.TryGetValue(ServiceData.posInTableA(curNe), out foundClosed);
if (curNeNode.costFromStart <= NewCost && (foundClosed != null || foundOpen != null))
{
return;
}
curNeNode.costFromStart = NewCost;
curNeNode.TotalCost = curNeNode.costToGoal + curNeNode.costFromStart;
if (foundClosed != null)
{
closed.Remove(ServiceData.posInTableA(foundClosed.vector));
Debug.Log("foundClosed");
}
if (foundOpen != null)
{
open.Remove(ServiceData.posInTableA(foundOpen.vector));
open.Add(ServiceData.posInTableA(curNeNode.vector), curNeNode);
Debug.Log("foundOpen");
}
else
{
open.Add(ServiceData.posInTableA(curNe), curNeNode);
visited.Add(new Vector2(i, j));
}
}
public void checkNode(int i, int j, Vector2 from, Vector2 to, Dictionary <int, ANode> open, Dictionary <int, ANode> closed, ANode best)
{
Vector2 curNe = new Vector2(i, j);
ANode curNeNode = new ANode(curNe, cost(from, curNe), cost(curNe, to), best);
float NewCost = best.costFromStart + 1f;
ANode foundOpen = null;
open.TryGetValue(ServiceData.posInTableA(curNe), out foundOpen);
ANode foundClosed = null;
closed.TryGetValue(ServiceData.posInTableA(curNe), out foundClosed);
if (curNeNode.costFromStart <= NewCost && (foundClosed != null || foundOpen != null))
{
return;
}
curNeNode.costFromStart = NewCost;
curNeNode.TotalCost = curNeNode.costToGoal + curNeNode.costFromStart;
if (foundClosed != null)
{
closed.Remove(ServiceData.posInTableA(foundClosed.vector));
}
if (foundOpen != null)
{
foundOpen = curNeNode;
}
else
{
open.Add(ServiceData.posInTableA(curNeNode.vector), curNeNode);
visited.Add(new Vector2(i, j));
}
}
public IList <Vector2> FindWay_AModified(Vector2 from, Vector2 to, MapData map)
{
visited = new List <Vector2>();
IList <Vector2> list = new List <Vector2>();
from = new Vector2((int)from.x, (int)from.y);
to = new Vector2((int)to.x, (int)to.y);
var watch = System.Diagnostics.Stopwatch.StartNew();
//Debug.Log(from + " to " + to);
Dictionary <int, ANode> open = new Dictionary <int, ANode>();
Dictionary <int, ANode> closed = new Dictionary <int, ANode>();
Vector2 cur = from;
ANode s = new ANode(from, 0, cost(cur, to), null);
if (!open.ContainsKey(ServiceData.posInTableA(s.vector)))
{
open.Add(ServiceData.posInTableA(s.vector), s);
}
int max = 0;
while (open.Count > 0 && max++ < 5000)
{
var best = open.OrderBy(f => f.Value.TotalCost).ToList().FirstOrDefault();
if (best.Value.vector.Equals(to))
{
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
list.Add(best.Value.vector);
ANode act = best.Value.parent;
do
{
if (act != null)
{
list.Add(act.vector);
act = act.parent;
}
} while (act != null);
list = list.Reverse().ToList();
saveLogs(elapsedMs, list);
break;
}
else
{
int i = (int)best.Value.vector.x;
int j = (int)best.Value.vector.y;
//top
if (isEmpty(i, j + 1, map))
{
checkNode_AModified(i, j + 1, from, to, open, closed, best.Value);
}
//bot
if (isEmpty(i, j - 1, map))
{
checkNode_AModified(i, j - 1, from, to, open, closed, best.Value);
}
//r
if (isEmpty(i + 1, j, map))
{
checkNode_AModified(i + 1, j, from, to, open, closed, best.Value);
}
//l
if (isEmpty(i - 1, j, map))
{
checkNode_AModified(i - 1, j, from, to, open, closed, best.Value);
}
}
open.Remove(ServiceData.posInTableA(best.Value.vector));
if (!closed.ContainsKey(ServiceData.posInTableA(best.Value.vector)))
{
closed.Add(ServiceData.posInTableA(best.Value.vector), best.Value);
}
}
return(list);
}
