public PFNode(INavable cube, PFNode prevNode, int cost)
{
this.cube = cube;
this.prevNode = prevNode;
this.cost = cost;
}
public void RequestAsync(INavable start, int maxDistance, Action <List <PFPath> > OnServe, Func <INavable, bool> cubeIgnore)
{
List <INavable> navables = new List <INavable>(mapMgr.map.Cubes);
StartCoroutine(BFSPathfinding(start, navables, maxDistance, OnServe, cubeIgnore));
}
/// <summary>
/// maxDistance로 갈수 있는 큐브들을 BFS로 찾아 OnServe콜백함수의 PFPath인자로 돌려줍니다.
/// </summary>
/// <param name="maxDistance">BFS로 찾을 최대 거리</param>
/// <param name="OnServe">함수가 끝나면 호출할 함수를 전달하세요. 함수의 인자로 Path가 전달됩니다.</param>
/// <param name="cubeIgnore">Path에 포함시키지 않을 Predicate</param>
/// <returns></returns>
private IEnumerator BFSPathfinding(
INavable start, List <INavable> navables, int maxDistance,
Action <List <PFPath> > OnServe, Func <INavable, bool> cubeIgnore)
{
OnSearchBegin();
// 나중에 cost가 정해진 노드들만 path로 만들기 위함
List <PFNode> table = new List <PFNode>();
// BFS: Initialization
Queue <PFNode> queue = new Queue <PFNode>();
PFNode startNode = new PFNode(start, null, 0);
queue.Enqueue(startNode);
table.Add(startNode);
// BFS: Traversal
int maxLoop = 40;
int currLoop = 0;
while (queue.Count > 0)
{
PFNode currNode = queue.Dequeue();
if (currNode.cost >= maxDistance)
{
continue;
}
List <INavable> neighborCubes = currNode.cube.Neighbors;
foreach (var neighborCube in neighborCubes)
{
if (cubeIgnore(neighborCube))
{
continue;
}
if (table.Any(node => node.cube == neighborCube))
{
continue; // 이미 다른 Path에 있음
}
PFNode newNode = new PFNode(neighborCube, currNode, currNode.cost + 1);
queue.Enqueue(newNode);
table.Add(newNode);
}
currLoop++;
if (currLoop >= maxLoop)
{
currLoop = 0;
yield return(null);
}
}
// Path Construction
List <PFPath> paths = new List <PFPath>();
currLoop = 0;
foreach (var destination in table)
{
PFPath path = new PFPath(start, destination);
path.Add(destination);
PFNode currNode = destination;
while (currNode.prevNode != null)
{
path.Add(currNode.prevNode);
currNode = currNode.prevNode;
}
path.Reverse();
paths.Add(path);
currLoop++;
if (currLoop >= maxLoop)
{
currLoop = 0;
yield return(null);
}
}
// return by Calling Callback Function
OnServe(paths);
OnSearchEnd();
}
