public void Run(MovementGraph graph)
{
Stopwatch s = new Stopwatch();
s.Start ();
List<MGraphNode> Q = new List<MGraphNode>(); //Set of unvisited nodes
dist = new Dictionary<MGraphNode, int>(); //Distances to each node, from the origin
prev = new Dictionary<MGraphNode, MGraphNode>(); //Previous node to each node on the path
foreach(MGraphNode v in graph.nodeArray) //initializing sets
{
if (v == null)
continue;
dist [v] = int.MaxValue;
prev [v] = null;
Q.Add (v);
}
dist [graph.origin] = 0; //distance cost from the origin to the origin
MGraphNode u;
int alt;
while (Q.Count > 0) {
u = getLowestDistance (Q); //origin will be selected first
Q.Remove (u); //equivalent to visiting the node u
foreach (MGraphNode v in u.neighbors) {
if (!Q.Contains (v)) continue; //We dont want neighbors that have already been visited
alt = dist [u] + v.moveCost;
if(alt < dist[v]) //New shortest path to v was found
{
dist [v] = alt;
prev [v] = u;
}
}
}
s.Stop ();
UnityEngine.Debug.Log ("Dijkstra's algorithm just finished taking " + s.ElapsedMilliseconds + " ms");
origin = graph.origin;
goal = graph.goal;
}
public void rebuildMovementGraph(Position origin)
{
movementGraph = new MovementGraph ();
movementGraph.build (origin, buildMovementArray ());
}
