public IEnumerator SolveCoroutine(Graph graph, NodeComponent start, NodeComponent goal)
{
var unvisited = new List <NodeComponent>(graph.Nodes);
if (unvisited.Count == 0)
{
yield break;
}
//Initializing open data structure
//Using a proerty of nodeInfo we don't need a close list, avoiding searching
var open = new List <NodeComponent>();
//Every node will start with an infinity cost except the start node
foreach (var node in unvisited)
{
bool isStart = node == start;
node.NodeInfo = new HeuristicNodeInfo(null,
isStart ? heuristicFuncDict[heuristicType](start, goal) : Mathf.Infinity,
isStart ? 0 : Mathf.Infinity);
}
//The iteration begins
NodeComponent currentNode = null;
start.NodeInfo.category = Category.Open;
open.Add(start);
while (open.Count > 0)
{
currentNode = GetMinNode(open);
currentNode.MarkAsCurrent();
yield return(new WaitForSeconds(timeToWait));
//If it is the goal node, then terminate - following the book algorithm
if (currentNode == goal)
{
break;
}
//Otherwise, gets its ungoing connection
foreach (var connection in graph.GetConnections(currentNode))
{
ProcessConnection(goal, open, currentNode, connection);
}
yield return(new WaitForSeconds(timeToWait));
//We've finished looking at the connections for the current node, so add it to the closed list
//and remove it from the open list
var currNodeInfo = currentNode.NodeInfo;
currNodeInfo.category = Category.Closed;
currentNode.NodeInfo = currNodeInfo;
open.Remove(currentNode);
yield return(new WaitForSeconds(timeToWait));
}
//We've here if we've either found a goal, or if we've no more nodes to search, find which
if (currentNode == goal)
{
CalculatePath(start, currentNode);
}
}
