public SearchQueue(NodeTD n1, NodeTD n2, NodeTD[] g, SetPathCallbackTD func)
{
startNode = n1;
endNode = n2;
graph = g;
callBackFunc = func;
}
//~ static public void GetPathX(Vector3 startP, Vector3 endP, Node[] graph, SetPathCallback callBackFunc){
//~ Node startN=GetNearestNode(startP, graph);
//~ Node endN=GetNearestNode(endP, graph);
//~ //GetPath(startNode, endNode, null, graph, callBackFunc, false, true);
//~ if(!searching){
//~ //commence search
//~ Search(startN, endN, null, graph, callBackFunc, true);
//~ }
//~ else{
//~ //if a serach is in progress, put current request into a list
//~ SearchQueue q=new SearchQueue(startN, endN, null, graph, callBackFunc);
//~ if(urgent) queue.Insert(0, q);
//~ else queue.Add(q);
//~ }
//~ }
static public void GetPath(Vector3 startP, Vector3 endP, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
NodeTD startNode = GetNearestNode(startP, graph);
NodeTD endNode = GetNearestNode(endP, graph);
GetPath(startNode, endNode, null, graph, callBackFunc, false);
}
public static void GetPath(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
if (instance == null)
{
Init();
}
instance._GetPath(startN, endN, graph, callBackFunc);
}
//~ static public Queue SearchPath(){
//~ return new Queue();
//~ }
static public void CallMeBack(SetPathCallbackTD callBackFunc)
{
//~ FooCallbackType myDelegate = new FooCallbackType(
//~ this.TestCallBack );
//~ callBackFunc("i Hear you!!");
//~ Debug.Log("queue");
//~ queue.Add(new Queue(callBackFunc));
//~ Debug.Log(queue.Count);
}
public void _GetPath(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
if (!searching)
{
//commence search
StartCoroutine(_SearchRoutine(startN, endN, graph, callBackFunc));
}
else
{
//if a serach is in progress, put current request into the queue list
SearchQueue q = new SearchQueue(startN, endN, graph, callBackFunc);
searchQueueList.Add(q);
}
}
IEnumerator _SearchRoutine(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
//mark that a serac has started, any further query will be queued
searching = true;
bool pathFound = true;
int searchCounter = 0; //used to count the total amount of node that has been searched
int loopCounter = 0; //used to count how many node has been search in the loop, if it exceed a value, bring it to the next frame
//float LoopTime=Time.realtimeSinceStartup;
//closelist, used to store all the node that are on the path
List <NodeTD> closeList = new List <NodeTD>();
//openlist, all the possible node that yet to be on the path, the number can only be as much as the number of node in the garph
NodeTD[] openList = new NodeTD[graph.Length];
//an array use to record the element number in the open list which is empty after the node is removed to be use as currentNode,
//so we can use builtin array with fixed length for openlist, also we can loop for the minimal amount of node in every search
List <int> openListRemoved = new List <int>();
//current count of elements that are occupied in openlist, openlist[n>openListCounter] are null
int openListCounter = 0;
//set start as currentNode
NodeTD currentNode = startN;
//use to compare node in the openlist has the lowest score, alwyas set to Infinity when not in used
float currentLowestF = Mathf.Infinity;
int id = 0; //use element num of the node with lowest score in the openlist during the comparison process
int i = 0; //universal int value used for various looping operation
//loop start
while (true)
{
//if we have reach the destination
if (currentNode == endN)
{
break;
}
//for gizmo debug purpose
//currentNodeBeingProcess=currentNode;
//move currentNode to closeList;
closeList.Add(currentNode);
currentNode.listState = _ListStateTD.Close;
//loop through the neighbour of current loop, calculate score and stuff
currentNode.ProcessNeighbour(endN);
//put all neighbour in openlist
foreach (NodeTD neighbour in currentNode.neighbourNode)
{
if (neighbour.listState == _ListStateTD.Unassigned && neighbour.walkable)
{
//set the node state to open
neighbour.listState = _ListStateTD.Open;
//if there's an open space in openlist, fill the space
if (openListRemoved.Count > 0)
{
openList[openListRemoved[0]] = neighbour;
//remove the number from openListRemoved since this element has now been occupied
openListRemoved.RemoveAt(0);
}
//else just stack on it and increase the occupication counter
else
{
openList[openListCounter] = neighbour;
openListCounter += 1;
}
}
}
//clear the current node, before getting a new one, so we know if there isnt any suitable next node
currentNode = null;
//get the next point from openlist, set it as current point
//just loop through the openlist until we reach the maximum occupication
//while that, get the node with the lowest score
currentLowestF = Mathf.Infinity;
id = 0;
for (i = 0; i < openListCounter; i++)
{
if (openList[i] != null)
{
if (openList[i].scoreF < currentLowestF)
{
currentLowestF = openList[i].scoreF;
currentNode = openList[i];
id = i;
}
}
}
//if there's no node left in openlist, path doesnt exist
if (currentNode == null)
{
pathFound = false;
break;
}
//remove the new currentNode from openlist
openList[id] = null;
//put the id into openListRemoved so we know there's an empty element that can be filled in the next loop
openListRemoved.Add(id);
//increase the counter
searchCounter += 1;
loopCounter += 1;
//if exceed the search limit per frame, bring the search to the next frame
if (loopCounter > ScanNodeLimitPerFrame)
{
loopCounter = 0; //reset the loopCounter for the next frame
yield return(null);
}
}
//trace back the path through closeList
List <Vector3> p = new List <Vector3>();
if (pathFound)
{
//track back the node's parent to form a path
while (currentNode != null)
{
p.Add(currentNode.pos);
currentNode = currentNode.parent;
}
//since the path is now tracked from endN ot startN, invert the list
p = InvertArray(p);
p = SmoothPath(p);
}
callBackFunc(p);
//clear searching so indicate the search has end and a new serach can be called
searching = false;
ResetGraph(graph);
}
public SearchQueue(NodeTD n1, NodeTD n2, NodeTD[] g, SetPathCallbackTD func)
{
startNode=n1;
endNode=n2;
graph=g;
callBackFunc=func;
}
IEnumerator _SearchRoutine(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
//mark that a serac has started, any further query will be queued
searching=true;
bool pathFound=true;
int searchCounter=0; //used to count the total amount of node that has been searched
int loopCounter=0; //used to count how many node has been search in the loop, if it exceed a value, bring it to the next frame
//float LoopTime=Time.realtimeSinceStartup;
//closelist, used to store all the node that are on the path
List<NodeTD> closeList=new List<NodeTD>();
//openlist, all the possible node that yet to be on the path, the number can only be as much as the number of node in the garph
NodeTD[] openList=new NodeTD[graph.Length];
//an array use to record the element number in the open list which is empty after the node is removed to be use as currentNode,
//so we can use builtin array with fixed length for openlist, also we can loop for the minimal amount of node in every search
List<int> openListRemoved=new List<int>();
//current count of elements that are occupied in openlist, openlist[n>openListCounter] are null
int openListCounter=0;
//set start as currentNode
NodeTD currentNode=startN;
//use to compare node in the openlist has the lowest score, alwyas set to Infinity when not in used
float currentLowestF=Mathf.Infinity;
int id=0; //use element num of the node with lowest score in the openlist during the comparison process
int i=0; //universal int value used for various looping operation
//loop start
while(true){
//if we have reach the destination
if(currentNode==endN) break;
//for gizmo debug purpose
//currentNodeBeingProcess=currentNode;
//move currentNode to closeList;
closeList.Add(currentNode);
currentNode.listState=_ListStateTD.Close;
//loop through the neighbour of current loop, calculate score and stuff
currentNode.ProcessNeighbour(endN);
//put all neighbour in openlist
foreach(NodeTD neighbour in currentNode.neighbourNode){
if(neighbour.listState==_ListStateTD.Unassigned && neighbour.walkable) {
//set the node state to open
neighbour.listState=_ListStateTD.Open;
//if there's an open space in openlist, fill the space
if(openListRemoved.Count>0){
openList[openListRemoved[0]]=neighbour;
//remove the number from openListRemoved since this element has now been occupied
openListRemoved.RemoveAt(0);
}
//else just stack on it and increase the occupication counter
else{
openList[openListCounter]=neighbour;
openListCounter+=1;
}
}
}
//clear the current node, before getting a new one, so we know if there isnt any suitable next node
currentNode=null;
//get the next point from openlist, set it as current point
//just loop through the openlist until we reach the maximum occupication
//while that, get the node with the lowest score
currentLowestF=Mathf.Infinity;
id=0;
for(i=0; i<openListCounter; i++){
if(openList[i]!=null){
if(openList[i].scoreF<currentLowestF){
currentLowestF=openList[i].scoreF;
currentNode=openList[i];
id=i;
}
}
}
//if there's no node left in openlist, path doesnt exist
if(currentNode==null) {
pathFound=false;
break;
}
//remove the new currentNode from openlist
openList[id]=null;
//put the id into openListRemoved so we know there's an empty element that can be filled in the next loop
openListRemoved.Add(id);
//increase the counter
searchCounter+=1;
loopCounter+=1;
//if exceed the search limit per frame, bring the search to the next frame
if(loopCounter>ScanNodeLimitPerFrame){
loopCounter=0; //reset the loopCounter for the next frame
yield return null;
}
}
//trace back the path through closeList
List<Vector3> p=new List<Vector3>();
if(pathFound){
//track back the node's parent to form a path
while(currentNode!=null){
p.Add(currentNode.pos);
currentNode=currentNode.parent;
}
//since the path is now tracked from endN ot startN, invert the list
p=InvertArray(p);
p=SmoothPath(p);
}
callBackFunc(p);
//clear searching so indicate the search has end and a new serach can be called
searching=false;
ResetGraph(graph);
}
public void _GetPath(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
if(!searching){
//commence search
StartCoroutine(_SearchRoutine(startN, endN, graph, callBackFunc));
}
else{
//if a serach is in progress, put current request into the queue list
SearchQueue q=new SearchQueue(startN, endN, graph, callBackFunc);
searchQueueList.Add(q);
}
}
public static void GetPath(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
if(instance==null) Init();
instance._GetPath(startN, endN, graph, callBackFunc);
}
static private void Search(NodeTD startN, NodeTD endN, NodeTD blockN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
pathFinder.StartCoroutine(pathFinder._Search(startN, endN, blockN, graph, callBackFunc));
}
static public void GetPath(NodeTD startN, NodeTD endN, NodeTD blockN, NodeTD[] graph, SetPathCallbackTD callBackFunc, bool urgent)
{
CheckInit();
if (!searching)
{
//commence search
Search(startN, endN, blockN, graph, callBackFunc);
}
else
{
//if a serach is in progress, put current request into a list
SearchQueue q = new SearchQueue(startN, endN, blockN, graph, callBackFunc);
if (urgent)
{
queue.Insert(0, q);
}
else
{
queue.Add(q);
}
}
}
static public void GetPath(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc, bool urgent)
{
GetPath(startN, endN, null, graph, callBackFunc, urgent);
}
static public void GetPath(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
GetPath(startN, endN, null, graph, callBackFunc, false);
}
