public List <Node> ReturnPath(Node start, Node end, PathFindingMethod p)
{
_start = start;
_end = end;
if (_start == null || _end == null)
{
return(null);
}
_nodesChecked = new List <Node>();
_nodesChecked.Clear();
List <Node> path = null;
switch (p)
{
case PathFindingMethod.ASTAR:
path = AStar.Run(_start, Satisfies, GetWeightedNeighbours, Heuristic);
break;
case PathFindingMethod.THETA:
path = ThetaStar.Run(_start, Satisfies, GetWeightedNeighbours, Heuristic, InSight, EuclideanDist);
break;
}
return(path);
}
private void Start()
{
var path = ThetaStar.Run(start, satisfies, Expand, heuristic, insigth, cost);
foreach (var nodo in path)
{
Debug.Log(nodo.name);
}
walker.waypoints = path;
}
private void Start()
{
List <Nodo> path = new List <Nodo>();
//Aca va a cambiar el método.
switch (method)
{
case FindingMethod.BFS:
path = BFS.Run(start, satisfies, Expand);
break;
case FindingMethod.DFS:
path = DFS.Run(start, satisfies, Expand);
break;
case FindingMethod.Dijkstra:
path = Dijkstra.Run(start, satisfies, ExpandWeighted);
break;
case FindingMethod.AStar:
path = AStar.Run(start, satisfies, ExpandWeighted, heuristic);
break;
case FindingMethod.ThetaStar:
path = ThetaStar.Run(start, satisfies, ExpandWeighted, heuristic, insigth, cost);
break;
default:
break;
}
// foreach (var nodo in path )
// {
// Debug.Log(nodo.name);
// }
walker.waypoints = path;
}
private BaseSearchAlgo GetAlgorithm()
{
BaseSearchAlgo algo = null;
switch (m_searchAlgo)
{
case SearchAlgo.A_Star:
algo = new AStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.Theta_Star:
algo = new ThetaStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.LazyTheta_Star:
algo = new LazyThetaStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BestFirstSearch:
algo = new BestFirstSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BreadthFirstSearch:
algo = new BreadthFirstSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.DijkstraSearch:
algo = new DijkstraSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.JPS:
algo = new JumpPointSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.JPSPlus:
algo = new JPSPlus(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BiA_Star:
algo = new BiAStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
#region Incremental
case SearchAlgo.D_Star:
algo = new DStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.FocussedD_Star:
algo = new FocussedDStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.LPA_Star:
algo = new LPAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
//algo = new LPAStar_Optimized(m_startNode, m_endNode, m_nodes, m_showTime);
break;
case SearchAlgo.DstarLite:
algo = new DStarLite(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.Path_AA_Star:
algo = new Path_AAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.Tree_AA_Star:
algo = new Tree_AAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
#endregion
#region Moving Target
case SearchAlgo.GAA_Star:
algo = new GAAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.GFRA_Star:
algo = new GFRAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.MT_DstarLite:
algo = new MT_DStarLite(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
#endregion
case SearchAlgo.AnnotatedA_Star:
algo = new AnnotatedAStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime, m_unitSize);
break;
default:
Debug.LogError($"No code for SearchAlgo={m_searchAlgo}");
break;
}
return(algo);
}
