public int CompareTo(CellCost <T> cellCost)
{
var compare = f.CompareTo(cellCost.f);
if (compare == 0)
{
compare = h.CompareTo(cellCost.h);
}
return(compare);
}
private bool TryGetMinCostCellFromNeighbours(CellCost <GridCell> currentCellCost, out List <CellCost <GridCell> > minCostCells)
{
var isImpasse = true;
minCostCells = new List <CellCost <GridCell> >();
var minCostCell = new CellCost <GridCell>();
var neighbours = gridManager.GetNeighbours(currentCellCost.gridCell);
for (var i = 0; i < neighbours.Count; i++)
{
var item = neighbours[i];
if (!item.walkable || closeCells.Contains(item) || OpenListContains(item))
{
continue;
}
var cellCost = new CellCost <GridCell>
{
gridCell = item,
g = currentCellCost.g + item.GetG(currentCellCost.gridCell),
h = item.GetH(endCell),
parent = currentCellCost
};
if (minCostCell.CompareTo(cellCost) > 0 || minCostCell.f == 0)
{
minCostCell = cellCost;
if (minCostCells.Count > 0)
{
minCostCells.Clear();
}
minCostCells.Add(cellCost);
}
else if (minCostCell.CompareTo(cellCost) == 0)
{
minCostCells.Add(cellCost);
}
isImpasse = false;
}
return(!isImpasse);
}
public IEnumerator SearchMinCostLinePath()
{
var spw = new System.Diagnostics.Stopwatch();
spw.Start();
while (true)
{
var assessCell = OpenListPopFirst();
if (assessCell.gridCell.worldPosition == endCell.worldPosition)
{
spw.Stop();
Debug.Log("use time : " + spw.ElapsedMilliseconds);
endCellCost = assessCell;
yield break;
}
;
List <CellCost <GridCell> > minCostCells;
if (TryGetMinCostCellFromNeighbours(assessCell, out minCostCells))
{
openCellCosts.AddRange(minCostCells);
foreach (var item in minCostCells)
{
gridManager.DrawCell(item.gridCell, true, true);
}
}
else
{
//Debug.Log("close cell count : " + closeCells.Count);
openCellCosts.Remove(assessCell);
closeCells.Add(assessCell.gridCell);
gridManager.DrawCell(assessCell.gridCell, true, true, (m) => { m.color = Color.yellow; });
}
OpenListSort();
yield return(new WaitForSeconds(0.05f));
}
}
