public void findpath(vectorwrapper start, vectorwrapper end)
{
List <Vector3> path = new List <Vector3>();
path.Add(end.vector);
Vector3 sum = end.vector;
while (sum != start.vector)
{
path.Add(dict[sum]);
sum = dict[sum];
}
for (int i = 0; i < path.Count; i++)
{
Debug.Log(path[i]);
}
foreach (Vector3 g in path)
{
GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
sphere.GetComponent <Renderer>().material.color = Color.cyan;
sphere.transform.position = new Vector3(g.x, 1.5f, g.z);
sphere.transform.localScale = new Vector3(3, 3, 3);
}
}
public void Start()
{
List <Vector3> openvectors = new List <Vector3>();
List <Vector3> closedvectors = new List <Vector3>();
Vector3 v1 = new Vector3(0, 0.5f, 0);
Vector3 v2 = new Vector3(0, 0.5f, 80);
Begin = new vectorwrapper(v1);
End = new vectorwrapper(v2);
List <vectorwrapper> Frontier = new List <vectorwrapper>();
Frontier.Add(Begin);
Begin.hcost = Vector3.Distance(Begin.vector, End.vector);
while (Frontier.Count > 0)
{
vectorwrapper current = Frontier[0];
for (int i = 1; i < Frontier.Count; i++)
{
if ((Frontier[i].TotalCost < current.TotalCost) || ((Frontier[i].TotalCost == current.TotalCost) && (Frontier[i].hcost < current.hcost)))
{
current = Frontier[i];
}
}
if (current.vector == End.vector)
{
//Debug.Log("current's parent " + current.parent);
//Debug.Log("End's parent " + End.parent);
findpath(Begin, current);
// Debug.Log("Found");
return;
}
Explored.Add(current);
closedvectors.Add(current.vector);
Frontier.Remove(current);
GetAdjacents(current);
foreach (vectorwrapper neighbour in Adjacents)
{
if (closedvectors.Contains(neighbour.vector))
{
continue;
}
float tentative_gcost = current.gcost + Vector3.Distance(current.vector, neighbour.vector) + Terrain.activeTerrain.SampleHeight(neighbour.vector);
if (!Frontier.Contains(neighbour))
{
Frontier.Add(neighbour);
}
else if (tentative_gcost >= neighbour.gcost)
{
continue;
}
dict[neighbour.vector] = current.vector;
neighbour.gcost = tentative_gcost;
neighbour.hcost = Vector3.Distance(neighbour.vector, End.vector);
}
}
}
public void GetAdjacents(vectorwrapper input) // function to fetch the neighbouring nodes
{
Adjacents.Clear();
float x = input.vector.x;
float z = input.vector.z;
float[] set = { x - 10.0f, z - 10.0f, x - 10.0f, z, x - 10.0f, z + 10.0f, x, z - 10.0f, x, z + 10.0f, x + 10.0f, z - 10.0f, x + 10.0f, z, x + 10.0f, z + 10.0f };
int j = 0;
vectorwrapper Adjacent;
for (int i = 0; i < 8; i++)
{
Adjacent = new vectorwrapper(new Vector3(set[j], 0.5f, set[j + 1]));
if (Adjacent.vector.x >= 0 && Adjacent.vector.x <= 90)
{
if (Adjacent.vector.z >= 0 && Adjacent.vector.z <= 90)
{
Adjacents.Add(Adjacent);
}
}
j = j + 2;
}
}
