public HexaPath FindPath(TopologyGraph graph, HexaPos start, HexaPos end)
{
HexaPath path = new HexaPath();
Graph G = new Graph();
int gridWidth = graph.hexes.GetLength(0);
int gridHeight = graph.hexes.GetLength(1);
List <Node> nodelist = new List <Node>();
for (int j = 0; j < gridHeight; j++)
{
for (int i = 0; i < gridWidth; i++)
{
HexaPos tempPos = graph.hexes[i, j].GetHexaPos();
Hex tempHex = _map.GetHex(tempPos.X, tempPos.Y);
if (_map.mapState.IsObstacle(tempHex) == false)
{
Node n = G.AddNode(tempPos.X, tempPos.Y, 0);
nodelist.Add(n);
}
}
}
List <HexaGridEdge> .Enumerator etE = graph.edgeList.GetEnumerator();
while (etE.MoveNext())
{
Node a = findNode(nodelist, etE.Current.GetA().X, etE.Current.GetA().Y);
Node b = findNode(nodelist, etE.Current.GetB().X, etE.Current.GetB().Y);
if (a != null && b != null)
{
G.AddArc(a, b, 1);
G.AddArc(b, a, 1);
}
}
Node startNode = findNode(nodelist, start.X, start.Y);
Node endNode = findNode(nodelist, end.X, end.Y);
Console.WriteLine("- Best path to reach " + startNode.ToString() + " from " + endNode.ToString() + " :");
AStar AS = new AStar(G);
if (AS.SearchPath(startNode, endNode))
{
// foreach (Arc A in AS.PathByArcs) Console.WriteLine( A.ToString() );
foreach (Node N in AS.PathByNodes)
{
Console.WriteLine(N.ToString());
HexaPos n = new HexaPos((int)N.X, (int)N.Y);
path.AddPos(n);
}
}
else
{
Console.WriteLine("No result !");
}
return(path);
}
public PlanningGraphGenerator(TopologyGraph graph)
{
_topologicalGraph = graph;
}
public TopologyGraph GetTopologyGraph()
{
TopologyGraph graph = new TopologyGraph(_map);
return(graph);
}
public HexaPath FindPath(TopologyGraph graph, HexaPos start, int planningLength)
{
HexaPath path = new HexaPath();
return(path);
}