//---- || Breath first search method ||----\\
public void BreathFirstSearch(Vector3 startPos, Vector3 goalPos)
{
Stopwatch bsw = new Stopwatch();
bsw.Start();
List <Node> openList = new List <Node>();
closedList = new HashSet <Node>();
Node currentNode;
Node startNode = grid.NodeFromWorldPoint(startPos);
Node targetNode = grid.NodeFromWorldPoint(goalPos);
openList.Add(startNode);
if (startNode.walkable && targetNode.walkable)
{
while (openList.Count > 0)
{
currentNode = openList[0];
openList.Remove(currentNode);
closedList.Add(currentNode);
if (currentNode.Equals(targetNode))
{
bsw.Stop();
print("Path found in: " + bsw.ElapsedMilliseconds + " ms");
BreathfirstMilliseconds = bsw.ElapsedMilliseconds;
grid.BFSclosedList = closedList;
RetracePath(startNode, targetNode);
return;
}
foreach (Node i in grid.GetNeighbours(currentNode))
{
if (!i.walkable || closedList.Contains(i))
{
continue;
}
if (!openList.Contains(i))
{
i.parent = currentNode;
openList.Add(i);
}
}
}
}
}
//--- || Heap coroutine ||---\\
IEnumerator FindPathHeap(Vector3 startPos, Vector3 targetPos)
{
Stopwatch swHeap = new Stopwatch();
swHeap.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = grid.NodeFromWorldPoint(startPos);
Node targetNode = grid.NodeFromWorldPoint(targetPos);
if (startNode.walkable && targetNode.walkable)
{
openSet = new Heap <Node> (grid.MaxSize);
closedSet = new HashSet <Node> ();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
grid.closedSet = closedSet;
if (currentNode == targetNode)
{
swHeap.Stop();
print("Path found in: " + swHeap.ElapsedMilliseconds + " ms");
AStarMilliseconds = swHeap.ElapsedMilliseconds;
pathSuccess = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
if (newMovementCostToNeighbour < currentNode.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
openSet.Add(neighbour);
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
}