public List <GameObject> GetPathDjikstraAsGameObject(GameObject a_start, GameObject a_end)
{
Djikstras.Node start = a_start.GetComponent <Djikstras.Node>();
Djikstras.Node end = a_end.GetComponent <Djikstras.Node>();
return(GetPathDjikstraAsGameObject(start, end));
}
public List <Djikstras.Node> GetPathDjikstra(GameObject a_start, GameObject a_end)
{
// Gets GameObject from Node components
Djikstras.Node startNode = a_start.GetComponent <Djikstras.Node>();
Djikstras.Node endNode = a_end.GetComponent <Djikstras.Node>();
// Return path
return(GetPathDjikstra(startNode, endNode));
}
public List <GameObject> GetPathDjikstraAsGameObject(Djikstras.Node a_start, Djikstras.Node a_end)
{
List <Djikstras.Node> pathAsNodes = GetPathDjikstra(a_start, a_end);
// Adds the gameobject component of every node in the path to another list
List <GameObject> path = new List <GameObject>();
for (int i = 0; i < pathAsNodes.Count; i++)
{
path.Add(pathAsNodes[i].gameObject);
}
// New path of game objects
return(path);
}
public List <Djikstras.Node> GetPathDjikstra(Djikstras.Node a_start, Djikstras.Node a_end)
{
List <Djikstras.Node> path = new List <Djikstras.Node>();
// Resets everything to default values
for (int x = 0; x < gridDimensions.x; x++)
{
for (int y = 0; y < gridDimensions.y; y++)
{
nodes[x, y].ResetNode();
}
}
path.Clear();
if (!a_start || !a_end)
{
Debug.LogWarning("Start or End node is equal to NULL");
return(path);
}
if (a_start == a_end)
{
path.Add(a_start);
return(path);
}
Queue <Djikstras.Node> openList = new Queue <Djikstras.Node>();
List <Djikstras.Node> closedList = new List <Djikstras.Node>();
openList.Enqueue(a_start);
Djikstras.Node currentNode;
while (openList.Count > 0)
{
currentNode = openList.Dequeue();
closedList.Add(currentNode);
List <Djikstras.Edge> edges = currentNode.GetEdges();
for (int i = 0; i < edges.Count; i++)
{
// If edge is not valid, move along
if (!edges[i].IsValid())
{
continue;
}
//
Djikstras.Node otherNode = null;
if (edges[i].GetNodes()[0] == currentNode)
{
otherNode = edges[i].GetNodes()[1];
}
else
{
otherNode = edges[i].GetNodes()[0];
}
// If the other node is not in the closed list
if (!closedList.Contains(otherNode))
{
float currentGScore = currentNode.GetGScore() + edges[i].GetCost();
// If the other node is not in the open list
if (!openList.Contains(otherNode))
{
// Set the GScore to the current node's score + the cost of the edge
otherNode.SetGScore(currentNode.GetGScore() + edges[i].GetCost());
otherNode.SetPreviousNode(currentNode);
// Add the other node to the open list
openList.Enqueue(otherNode);
}
else if (currentGScore < otherNode.GetGScore())
{
// Override the current gScore
otherNode.SetGScore(currentGScore);
// and override the previous node
otherNode.SetPreviousNode(currentNode);
}
}
}
}
Djikstras.Node endNode = a_end;
path.Add(endNode);
while (endNode != a_start)
{
if (!endNode)
{
path.Clear();
return(path);
}
endNode = endNode.GetPreviousNode();
path.Add(endNode);
}
// Return the final path
return(path);
}
void CreateEdge(Djikstras.Node a_nodeA, Djikstras.Node a_nodeB, float a_cost = 1.0f)
{
Djikstras.Edge newEdge = new Djikstras.Edge(a_nodeA, a_nodeB, a_cost);
}