void RemakePath(Node_Info meNodeInfo) //Backtracking From The EndNode. When The Backtracking Reaches The StartNode, Then The Path Is Set
{
ArrayLengthSaver = 0; //Just A Reused Variable For Holding The Index Number For The Next Node To Enter In The Path
_CurrentNode = _EndNode;
meNodeInfo.MyNodePath[ArrayLengthSaver++] = _CurrentNode;
if (_EndNode == _TheStartNode)
{
return;
}
else
{
_CurrentNode = _EndNode;
}
while (true) //Going Backwards Parent To Parent To Parent.....
{
if (_CurrentNode._ParentNode != _TheStartNode)
{
meNodeInfo.MyNodePath[ArrayLengthSaver++] = _CurrentNode._ParentNode;
_CurrentNode = _CurrentNode._ParentNode;
}
else
{
meNodeInfo.MyNodePath[ArrayLengthSaver++] = _CurrentNode._ParentNode;
meNodeInfo.MyNodePath[ArrayLengthSaver--] = null; //Setting This To Be 'null' To Symbolize That This Is The End
for (int i = 0; i < ArrayLengthSaver / 2; i++) //Turning The List Around
{
_CurrentNode = meNodeInfo.MyNodePath[i];
meNodeInfo.MyNodePath[i] = meNodeInfo.MyNodePath[ArrayLengthSaver - i];
meNodeInfo.MyNodePath[ArrayLengthSaver - i] = _CurrentNode;
}
return;
}
}
}
//float one, two;
public void StartRunning(Object_Node_Position me, Node_Info meNodeInfo, Object_Node_Position taget)
{
if (_TheStartNode == null)
{
Setup();
}
#region Startup Phase
for (int i = 0; i < _OpenListAtIndex; i++) //The Used Nodes Is In These Two Lists. So I Only Need To Reset The Nodes Used
{
_OpenList[i].NodeSearchedThrough = false;
}
for (int i = 0; i < _ClosedListAtIndex; i++)
{
_ClosedList[i].NodeSearchedThrough = false;
}
_OpenListAtIndex = 0;
_ClosedListAtIndex = 0;
_NodeXPos = Mathf.FloorToInt(_TheStartNode.PosX + (taget.XNode - me.XNode));
_NodeYPos = Mathf.FloorToInt(_TheStartNode.PosY + (taget.YNode - me.YNode));
if (_NodeXPos >= TurretMan_WorldChanger.NodesSize)
{
_NodeXPos = TurretMan_WorldChanger.NodesSize - 1;
}
else if (_NodeXPos < 0)
{
_NodeXPos = 0;
}
if (_NodeYPos >= TurretMan_WorldChanger.NodesSize)
{
_NodeYPos = TurretMan_WorldChanger.NodesSize - 1;
}
else if (_NodeYPos < 0)
{
_NodeYPos = 0;
}
_EndNode = _NodeMap[_NodeXPos, _NodeYPos];
_TheStartNode.SetStartNode(_TheStartNode, _EndNode); //Giving The StartNode its Costs
_OpenList[_OpenListAtIndex++] = _TheStartNode; //Giving The Search Through List Its First Node
#endregion
#region A* Algorythm
while (_ClosedListAtIndex < TurretMan_WorldChanger.NodesTotal) //If The ClosedListAtIndex Is Equalt To Or Greater The Total Amount Of Nodes Then This Is False And The Search Is Stopped
{
_LowerstFScore = 10000000;
for (int i = 0; i < _OpenListAtIndex; i++) //Iterating Through The List With Unused Nodes To Find The Node With The Lowerst FCost
{
if (_OpenList[i].FCost < _LowerstFScore)
{
_CurrentNode = _OpenList[i];
_NodeIndexSaved = i;
_LowerstFScore = _CurrentNode.FCost;
}
}
_ClosedList[_ClosedListAtIndex++] = _CurrentNode; //The Node That Was Chosen From Openlist Is Put In Here
_OpenList[_NodeIndexSaved] = _OpenList[--_OpenListAtIndex]; //The Node That Was Added To ClosedList Is Being Removed Here And Replaced With The Last Node In The Openlist
if (_CurrentNode == _EndNode) //If True Then A Path Was Found And The Search Is Complete
{
RemakePath(meNodeInfo);
return;
}
ArrayLengthSaver = _CurrentNode.NeighbourNodess.Length; //This Is An Improvement Rather Then Getting The Length Each i++ (Not Much But Some)
for (int i = 0; i < ArrayLengthSaver; i++)
{
_NodeHolder = _CurrentNode.NeighbourNodess[i];
if (_NodeHolder.NodeSearchedThrough == false) //If false Then The Node Havent Been Searched Through And Info Need To Be Set
{
_NodeHolder.SetParentAndHCost(_CurrentNode, _EndNode, meNodeInfo.PathfindingNodeID);
_OpenList[_OpenListAtIndex++] = _NodeHolder;
}
else if (_CurrentNode.GCost < _NodeHolder._ParentNode.GCost) //If Current.Gcost Is Less Then Nodeholder.parent.Gcost Then A New ParentNode Is Set ...... If Errors Occur Use (_NodeHolder.GCost > _CurrentNode.GCost + (PathfindingNodeID[CollisionID[_NodeHolder.PosX, _NodeHolder.PosY]] * 1.4f))
{
_NodeHolder.SetNewParent(_CurrentNode, meNodeInfo.PathfindingNodeID);
}
}
}
#endregion
Debug.LogWarning("No Path Detected, Initiating Self Destruct Algorythms.... 3..... 2..... 1..... .");
}