public ScriptNodeRecord smallestElement()
{
ScriptNodeRecord smallest = list[0];
foreach (ScriptNodeRecord node in list)
{
if (node.costSoFar < smallest.costSoFar)
{
smallest = node;
}
}
return(smallest);
}
public List <GameObject> PathFindDijkstra(GameObject start, GameObject goal, Human human)
{
//initialize first node
ScriptNodeRecord startRecord = new ScriptNodeRecord();
startRecord.node = start;
startRecord.connection = null;
startRecord.costSoFar = 0;
//initialize the open and closed lists
ScriptPathFindingList open = new ScriptPathFindingList();
ScriptPathFindingList closed = new ScriptPathFindingList();
open.list.Add(startRecord);
ScriptNodeRecord current = new ScriptNodeRecord();
//iterate through processing each node
while (open.list.Count > 0)
{
//find the smallest element
current = open.smallestElement();
//if it is the goal node, then we found the goal.
if (current.node == goal)
{
break;
}
//get its outgoing connections
List <ScriptConnection> connections = current.node.GetComponent <Tile>().Connections;
foreach (ScriptConnection connection in connections)
{
ScriptNodeRecord endNode = new ScriptNodeRecord();
endNode.node = connection.goingTo;
if (!endNode.node.GetComponent <Tile>().IsOccupied() || endNode.node.GetComponent <Tile>().occupiedBy.Faction == human.Faction)
{
//get the cost estimate for the end node
endNode.connection = current;
int endNodeCost = current.costSoFar + connection.cost;
//if this node is already closed get outa this connection
if (closed.list.Contains(endNode))
{
continue;
}
else if (open.list.Contains(endNode))
{
//here we find the record in the open list
//corresponding to the endNode
ScriptNodeRecord endNodeRecord = open.list.Find(item => item == endNode);
if (endNodeRecord.costSoFar <= endNodeCost)
{
continue;
}
//Otherwise we know we've got an unvisited
//node, so make a record for it
}
else
{
ScriptNodeRecord newEndNode = new ScriptNodeRecord();
newEndNode.node = endNode.node;
newEndNode.costSoFar = endNodeCost;
newEndNode.connection = current;
if (!open.list.Exists(item => item.node == newEndNode.node))
{
open.list.Add(newEndNode);
}
}
}
}
open.list.Remove(current);
closed.list.Add(current);
}
if (current.node != goal)
{
//we've run out of nodes without finding the goal, so there's no
//solution.
return(null);
}
else
{
List <GameObject> path = new List <GameObject>();
while (current.node != start)
{
path.Add(current.node);
current = current.connection;
}
path.Reverse();
return(path);
}
}
