public void ProcessNeighboursPathFindParameters(
IMazeElement currentMazeElement,
IOpenCloseListController openCloseListController,
IPathFindProcessMetric pathFindProcessMetric
)
{
List <IMazeElement> neighbourMazeElementList = planeBuilder.GetNeighboursOfMazeElement(currentMazeElement);
foreach (IMazeElement neighbourMazeElement in neighbourMazeElementList)
{
if (!openCloseListController.CloseListContains(neighbourMazeElement) && !neighbourMazeElement.IsMazeWall)
{
int discanceToNeighbour = 1;
float newNeighbourWeight = currentMazeElement.PathFindWeight + discanceToNeighbour;
if (newNeighbourWeight < neighbourMazeElement.PathFindWeight || !openCloseListController.OpenListContains(neighbourMazeElement))
//(openCloseListController.OpenListContains(neighbourMazeElement) && neighbourMazeElement.PathFindWeight < newNeighbourWeight) //||
//openCloseListController.CloseListContains(neighbourMazeElement) && neighbourMazeElement.PathFindWeight < newNeighbourWeight)
{
neighbourMazeElement.PathFindWeight = newNeighbourWeight;
neighbourMazeElement.PathFindDistanceHeuristic = aStarDistanceHeuristic.GetDistanceBetween(neighbourMazeElement, destinationMazeElement);
neighbourMazeElement.PathFindParent = currentMazeElement;
if (!openCloseListController.OpenListContains(neighbourMazeElement))
{
openCloseListController.AddToOpenList(neighbourMazeElement);
}
}
}
}
pathFindProcessMetric.ProcessJunctionParametersBaseOn(neighbourMazeElementList);
}
public List <IMazeElement> FindPath()
{
startMazeElement.PathFindWeight = 0;
openCloseListController.AddToOpenList(startMazeElement);
while (openCloseListController.OpenListCount() > 0 && destinationReach == false)
{
IMazeElement currentMazeElement = openCloseListController.GetMazeElementWithLowestWeight();
Debug.Log(currentMazeElement.Index);
openCloseListController.RemoveFirstElementFromOpenList(currentMazeElement);
openCloseListController.AddToCloseList(currentMazeElement);
pathFindProcessMetric.IncreaseNumberOfVisitedNodes();
if (currentMazeElement == destinationMazeElement)
{
destinationReach = true;
continue;
}
currentMazeElement.Tag = "PathFindSolution";
neighboursPathFindParametersProcessor.ProcessNeighboursPathFindParameters(currentMazeElement, openCloseListController, pathFindProcessMetric);
}
List <IMazeElement> listFromStartToDestination = DestinationPath.GetListFromStartToDestination(destinationMazeElement);
pathFindProcessMetric.SetPathLengthExpressedInNumberOfNodes(listFromStartToDestination.Count);
return(listFromStartToDestination);
}