// <summary>
// Given two Node objects, determines a path between the startNode and the endNode
// </summary>
// <param name="startNode"> the start Node </param>
// <param name="endNode"> the end Node </param>
public void determinePath(GenerateGraph.Node startNode, GenerateGraph.Node endNode)
{
if (startNode == null || endNode == null)
{
return;
}
PriorityQueue <GenerateGraph.Node> pq = new PriorityQueue <GenerateGraph.Node>(map.nodes.Count);
pq.queue(startNode);
Dictionary <GenerateGraph.Node, GenerateGraph.Node> came_from = new Dictionary <GenerateGraph.Node, GenerateGraph.Node>();
Dictionary <GenerateGraph.Node, float> cost_so_far = new Dictionary <GenerateGraph.Node, float> ();
came_from.Add(startNode, null);
cost_so_far.Add(startNode, 0);
Dictionary <GenerateGraph.Node, int> nodeToId = new Dictionary <GenerateGraph.Node, int>();
for (int i = 0; i < map.nodes.Count; i++)
{
nodeToId.Add(map.nodes[i], i);
}
GenerateGraph.Node current;
while (pq.getSize() > 0)
{
current = pq.dequeue();
print(current.point.ToString());
print("Neighbor Count: " + current.neighbors.Count);
if (current.Equals(endNode))
{
print("True");
break;
}
for (int i = 0; i < current.neighbors.Count; i++)
{
print("Current Neighbor: " + current.neighbors[i].point.ToString());
float new_cost = cost_so_far[current] +
distanceBetweenNodes(current, current.neighbors[i]);
if (cost_so_far.ContainsKey(current.neighbors[i]) == false ||
new_cost < cost_so_far[current.neighbors[i]])
{
cost_so_far[current.neighbors[i]] = new_cost;
current.neighbors[i].priority = new_cost;
pq.queue(current.neighbors[i]);
came_from[current.neighbors[i]] = current;
}
}
}
//Put nodes of the path into the list
path = new List <GenerateGraph.Node> ();
GenerateGraph.Node currentNode = endNode;
path.Add(currentNode);
while (currentNode.Equals(startNode) == false)
{
currentNode = came_from[currentNode];
path.Add(currentNode);
}
path.Reverse();
print("Path Nodes: ");
for (int i = 0; i < path.Count; i++)
{
print(nodeToId[path[i]] + "\n");
}
}
// <summary>
// Given two Node objects, determines the distance between them. Specifically, the
// distance between the centroids of their triangles is returned.
// </summary>
// <param name="n1"> the first given Node </param>
// <param name="n2"> the second given Node </param>
public float distanceBetweenNodes(GenerateGraph.Node n1, GenerateGraph.Node n2)
{
return(Vector3.Distance(n1.point, n2.point));
}