public Node nextNode; //next node to process
#endregion Fields
#region Constructors
public NodeConnection(Node next, float cost, List<Node> connection, float estimatedCost)
{
ID = next.ID;
nextNode = next;
costSoFar = cost;
Connection = connection;
EstimatedCostSoFar = estimatedCost;
}
public NodeConnection()
{
ID = -1;
nextNode = new Node();
costSoFar = 0;
Connection = new List<Node>();
EstimatedCostSoFar = 0;
}
/// <summary>
/// Initializes the map with the given height and width.
/// </summary>
/// <param name="height"></param>
/// <param name="width"></param>
public Map(int height, int width)
{
_map = new Node[height, width];
for (var i = 0; i < height; i++)
{
for (var k = 0; k < width; k++)
{
_map[i, k] = new Node(i, k);
}
}
}
public List<Node> Solve(Node startNode, Node endNode)
{
var explored = new List<Node>();
var reachable = new List<Node> { startNode };
var solution = new List<Node>();
startNode.Cost = 0;
while (reachable.Any())
{
var here = ChooseNode(reachable);
if (here.Equals(endNode))
{
while (here != null)
{
solution.Add(here);
here = here.Previous;
}
return solution;
}
var candidates = here.Reachable.Except(explored).ToList();
while (candidates.Any())
{
var nextNode = ChooseNode(candidates);
if (!reachable.Contains(nextNode))
{
reachable.Add(nextNode);
}
if (here.Cost + 1 < nextNode.Cost)
{
nextNode.Previous = here;
nextNode.Cost = here.Cost + 1;
}
candidates.Remove(nextNode);
}
reachable.Remove(here);
explored.Add(here);
}
return solution;
}
// Get A* path. If anything at all is wrong, ABORT
private List <PathFinding.Node> GetAStarPath(Vector3 destination)
{
if (astarGetter(Position, destination).Equals(Vector3.Zero))
{
return(null);
}
astar.Destination = astarGetter(destination, Vector3.Up);
if (astar.Destination == null)
{
return(null);
}
PathFinding.Node o = astarGetter(Position, Vector3.Up);
if (o == null)
{
return(null);
}
astar.Origin = o;
return(astar.GetShortestPath());
}
/// <summary>
/// Reconstructs the path that ends at node [node].
/// </summary>
/// <param name="node">The chasing node.</param>
/// <returns>A list that holds the nodes for the entire path.</returns>
private static List<Node> ReconstructPath(Node node)
{
var path = new List<Node>();
ReconstructPath(path, node);
path.Reverse();
return path;
}
/// <summary>
/// Adds a node to the open list, ensuring that the list is in ascending order.
/// </summary>
/// <param name="node">The node to add.</param>
private static void AddToOpenList(Node node)
{
for (var i = 0; i < _open.Count; i++)
{
if (node.FScore < _open[i].FScore)
{
_open.Insert(i, node);
return;
}
}
_open.Add(node);
}
/// <summary>
/// Adds a node to the closed list, ensuring that the list is in ascending order.
/// </summary>
/// <param name="node">The node to add.</param>
private static void AddToClosedList(Node node)
{
for (var i = 0; i < _closed.Count; i++)
{
if (node.FScore < _closed[i].FScore)
{
_closed.Insert(i, node);
return;
}
}
_closed.Add(node);
}
public float weight; //Weight value for this link
#endregion Fields
#region Constructors
public Link(Node node)
{
this.node = node;
}
/// <summary>
/// Calculates the distance to the given node.
/// </summary>
/// <param name="target">The node to calculate the distance to.</param>
/// <returns>The distance.</returns>
public float DistanceTo(Node target)
{
return (float)Math.Sqrt(Math.Pow(target.X - X, 2) + Math.Pow(target.Y - Y, 2));
}
/// <summary>
/// Checks if another node is equal to this node.
/// </summary>
/// <param name="other">The node to compare with.</param>
/// <returns>True if the X and Y values of both nodes are the same; False if they are not.</returns>
protected bool Equals(Node other)
{
return X == other.X && Y == other.Y;
}
/// <summary>
/// Checks if a given node is within the bounds of the map.
/// </summary>
/// <param name="node">The node.</param>
/// <returns>True if the location is within the bounds; false if it is not.</returns>
public bool WithinMap(Node node)
{
return WithinMap(node.X, node.Y);
}
void Awake()
{
GenerateDungeon();
// Create the paths for every room
Dictionary<Room, List<PathFinding.Node>> roomRoutes = new Dictionary<Room, List<PathFinding.Node>>();
for(int i = 0; i < rooms.Count; i++) {
Room s = rooms[i];
for(int j = i+1; j < rooms.Count; j++) {
Room g = rooms[j];
PathFinding.Node start = new PathFinding.Node(s.X_Cell, s.Y_Cell);
PathFinding.Node goal = new PathFinding.Node(g.X_Cell, g.Y_Cell);
pathFinder.findPath(cells, start, goal);
//roomRoutes.Add (s, pathFinder.findPath(cells, start, goal));
}
}
}
/// <summary>
/// Draws the map to the console.
/// </summary>
/// <param name="agentA">The location of agent A.</param>
/// <param name="agentB">The location of agent B.</param>
public void Draw(Agent agentA, Agent agentB)
{
Console.Clear();
for (int x = 0; x < Height; x++)
{
Console.Write("+");
for (int y = 0; y < Width; y++)
{
Console.Write("-+");
}
Console.WriteLine();
Console.Write("|");
for (int y = 0; y < Width; y++)
{
var tempNode = new Node(x, y);
if (_map[x, y].Closed) Console.Write("X");
else if (x == agentA.X && y == agentA.Y) Console.Write("A");
else if (x == agentB.X && y == agentB.Y) Console.Write("B");
else if (agentA.Path.Contains(tempNode)) Console.Write("a");
else if (agentB.Path.Contains(tempNode)) Console.Write("b");
else Console.Write(" ");
Console.Write("|");
}
Console.WriteLine();
}
Console.Write("+");
for (int y = 0; y < Width; y++)
{
Console.Write("-+");
}
Console.WriteLine();
Console.Write("Press <enter> to continue to next step.");
}
/// <summary>
/// Recursive method for constructing the path.
/// </summary>
/// <param name="nodes">The list of nodes for the path.</param>
/// <param name="node">The node to add.</param>
/// <returns>The list of nodes for the path.</returns>
private static List<Node> ReconstructPath(List<Node> nodes, Node node)
{
if (node == null) return nodes;
nodes.Add(node);
return ReconstructPath(nodes, node.CameFrom);
}
/// <summary>
/// Finds the shortest path from [fleeing] to [chasing] using the AStar algorithm.
/// </summary>
/// <param name="start">The node to fleeing at.</param>
/// <param name="end">The node to chasing at.</param>
/// <param name="map">The map.</param>
/// <returns>The path as a list of nodes.</returns>
public static List<Node> FindPathTo(Node start, Node end, Map map)
{
// Create lists
var path = new List<Node>();
_open = new List<Node>();
_closed = new List<Node>();
// Create fleeing node
var tempStart = start;
tempStart.CameFrom = null;
tempStart.GScore = 0;
tempStart.FScore = tempStart.GScore + tempStart.DistanceTo(end);
AddToOpenList(tempStart);
// While open is not empty...
while (_open.Count > 0)
{
var current = _open[0];
// If we found the goal ...
if (current.Equals(end))
{
// ... Create the path.
path = ReconstructPath(current);
break;
}
_open.Remove(current);
AddToClosedList(current);
// For all neighbour nodes
foreach (var neighbour in map.NeighbourNodes(current))
{
if (neighbour.Closed) continue;
// Calculate scores.
var tentativeGScore = current.GScore + neighbour.Cost;
var tentativeFScore = tentativeGScore + neighbour.DistanceTo(end);
// If the neighbour is in the closed list and the tentativeFScore is higher
// than the neighbour's, skip it.
if (_closed.Contains(neighbour)
&& tentativeFScore >= _closed[_closed.IndexOf(neighbour)].FScore)
{
continue;
}
// If the neighbour is not in the open list, add it.
if (!_open.Contains(neighbour)
&& map.WithinMap(neighbour))
{
neighbour.CameFrom = current;
neighbour.GScore = tentativeGScore;
neighbour.FScore = tentativeFScore;
AddToOpenList(neighbour);
continue;
}
// If the neighbour is in the open list, modify it.
if (_open.Contains(neighbour)
&& map.WithinMap(neighbour))
{
var indexOfNeighbour = _open.IndexOf(neighbour);
if (tentativeFScore < _open[indexOfNeighbour].FScore)
{
_open[indexOfNeighbour].CameFrom = current;
_open[indexOfNeighbour].GScore = tentativeGScore;
_open[indexOfNeighbour].FScore = tentativeFScore;
}
}
}
}
return path;
}
/// <summary>
/// Gets the nodes that are neighbours to the given node.
/// </summary>
/// <param name="node">The node to find the neighbours for.</param>
/// <returns>A list containing the neighbours.</returns>
public List<Node> NeighbourNodes(Node node)
{
var neighbors = new List<Node>();
if (WithinMap(node.X - 1, node.Y)) neighbors.Add(_map[node.X - 1, node.Y]);
if (WithinMap(node.X + 1, node.Y)) neighbors.Add(_map[node.X + 1, node.Y]);
if (WithinMap(node.X, node.Y - 1)) neighbors.Add(_map[node.X, node.Y - 1]);
if (WithinMap(node.X, node.Y + 1)) neighbors.Add(_map[node.X, node.Y + 1]);
if (WithinMap(node.X - 1, node.Y - 1)) neighbors.Add(_map[node.X - 1, node.Y - 1]);
if (WithinMap(node.X + 1, node.Y - 1)) neighbors.Add(_map[node.X + 1, node.Y - 1]);
if (WithinMap(node.X - 1, node.Y + 1)) neighbors.Add(_map[node.X - 1, node.Y + 1]);
if (WithinMap(node.X + 1, node.Y + 1)) neighbors.Add(_map[node.X + 1, node.Y + 1]);
return neighbors;
}
