// Use this for initialization
void Start()
{
if (instance != null)
{
Debug.LogError("Error: Cannot have two GameCubeManagers");
}
instance = this;
this.grid = new ConceptualGrid();
//Either spawn the cudes here with code
//Or place by hand and find the cubes
foreach (GameCube gc in transform.Find("GameCubes").GetComponentsInChildren <GameCube>())
{
this.grid.AddCube(gc.transform.position, gc);
}
}
public AStarPath(GameCube start, GameCube end)
{
ConceptualGrid grid = GameCubeManager.Instance.Grid;
List <GameCube> allCubes = grid.AllCubes;
List <GameCube> closedSet = new List <GameCube> ();
PriorityQueue <float, GameCube> openSet = new PriorityQueue <float, GameCube> ();
openSet.Enqueue(0, start);
//Essentially a linked list
Dictionary <GameCube, GameCube> path = new Dictionary <GameCube, GameCube> ();
Dictionary <GameCube, float> g_score = new Dictionary <GameCube, float> ();
foreach (GameCube h in allCubes)
{
g_score [h] = Mathf.Infinity;
}
g_score [start] = 0;
Dictionary <GameCube, float> f_score = new Dictionary <GameCube, float> ();
foreach (GameCube h in allCubes)
{
f_score [h] = Mathf.Infinity;
}
f_score [start] = heuristicCostEstimate(start, end);
while (!openSet.IsEmpty)
{
GameCube current = openSet.Dequeue().Value;
if (current == end)
{
RecontructPath(path, current);
return;
}
closedSet.Add(current);
List <GameCube> neighbours = grid.GetNeighbours(current);
foreach (GameCube neighbour in neighbours)
{
if (neighbour.MoveCost == Mathf.Infinity)
{
continue;
}
if (closedSet.Contains(neighbour))
{
continue;
}
float tentative_g_score = g_score [current] + current.MoveCost;
if (openSet.Contains(neighbour) && tentative_g_score >= g_score [neighbour])
{
continue;
}
path [neighbour] = current;
g_score [neighbour] = tentative_g_score;
f_score[neighbour] = g_score [neighbour] + heuristicCostEstimate(neighbour, end);
if (openSet.Contains(neighbour) == false)
{
openSet.Enqueue(f_score [neighbour], neighbour);
}
}
}
//if we reach this case, it means all nodes have been closed by final destination wasn't found
Debug.Log("Path failed");
}
