public void Search(NavigationGraphNode startNode, NodeGoalBounds nodeGoalBounds)
{
//TODO: Implement the algorithm that calculates the goal bounds using a dijkstra
//Given that the nodes in the graph correspond to the edges of a polygon, we won't be able to use the vertices of the polygon to update the bounding boxes
this.Open.Initialize();
this.Closed.Initialize();
NodeRecord StartNode = NodeRecordArray.GetNodeRecord(startNode);
StartNode.StartNodeOutConnectionIndex = -1;
Open.AddToOpen(StartNode);
int OpenSize = Open.All().Count;
while (OpenSize > 0)
{
NodeRecord currentNode = Open.GetBestAndRemove();
Open.RemoveFromOpen(currentNode);
Closed.AddToClosed(currentNode);
if (currentNode.StartNodeOutConnectionIndex != -1)
{
nodeGoalBounds.connectionBounds[currentNode.StartNodeOutConnectionIndex].UpdateBounds(currentNode.node.Position);
}
//Initialize start node edge colors:
var outConnections = currentNode.node.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(currentNode, currentNode.node.EdgeOut(i), i);
}
OpenSize = Open.All().Count;
}
}
public bool Search(out GlobalPath solution, bool returnPartialSolution = false)
{
int processedNodes = 0;
int OpenSize = 1;
while (OpenSize > 0)
{
OpenSize = Open.All().Count;
if (MaxOpenNodes < OpenSize)
{
MaxOpenNodes = OpenSize;
}
NodeRecord bestNode = Open.PeekBest();
if (processedNodes < NodesPerFrame)
{
if (bestNode.node.Equals(GoalNode))
{
this.TotalProcessingTime = (Time.time - startTime);
solution = CalculateSolution(bestNode, false);
this.InProgress = false;
return(false);
}
Open.RemoveFromOpen(bestNode);
Closed.AddToClosed(bestNode);
TotalExploredNodes++;
processedNodes++;
var outConnections = bestNode.node.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(bestNode, bestNode.node.EdgeOut(i), i);
}
}
else if (processedNodes == NodesPerFrame)
{
this.TotalProcessingTime = (Time.time - startTime);
solution = CalculateSolution(bestNode, true);
return(true);
}
}
this.TotalProcessingTime = (Time.time - startTime);
solution = null;
return(false);
}
ICollection<NodeRecord> IOpenSet.All()
{
return Open.All();
}
