public GraphNode GetClosestTarget(List <GraphNode> listOfNodes)
{
// Finds the closest node in list of target nodes
AstarNavigation a = new AstarNavigation();
var f = graph.Find(q => q.Equals(new GraphNode(transform.position.x, transform.position.y)));
if (f == null)
{
// WE ARE NOT INSIDE A NODE
f = CreateTemporaryNode();
}
var path = a.FindClosestGoalPath(f, listOfNodes);
foreach (GraphNode g in graph)
{
g.ResetPrevious();
}
foreach (GraphNode p in path)
{
nodeQueue.Enqueue(p);
}
return(path[path.Count - 1]);
}
public void GetNewTarget()
{
// Tries to make some unvisited node a target
// If all nodes explored, target random node
AstarNavigation a = new AstarNavigation();
var f = graph.Find(q => q.Equals(new GraphNode(transform.position.x, transform.position.y)));
if (f == null)
{
// WE ARE NOT INSIDE A NODE
f = CreateTemporaryNode();
}
List <GraphNode> path = new List <GraphNode>();
int random = 0;
if (unvisitedNodes.Count > 0)
{
random = UnityEngine.Random.Range(0, unvisitedNodes.Count);
path = a.FindPath(f, unvisitedNodes[random]);
}
else
{
random = UnityEngine.Random.Range(0, graph.Count);
path = a.FindPath(f, graph[random]);
}
foreach (GraphNode g in graph)
{
g.ResetPrevious();
}
foreach (GraphNode p in path)
{
nodeQueue.Enqueue(p);
}
CalculateMovementToNextTarget(nodeQueue.Dequeue());
}
public void GetShortestPathToTarget(GraphNode target)
{
// Finds shortest path to a target node from current position
AstarNavigation a = new AstarNavigation();
var f = graph.Find(q => q.Equals(new GraphNode(transform.position.x, transform.position.y)));
if (f == null)
{
// WE ARE NOT INSIDE A NODE
f = CreateTemporaryNode();
}
var path = a.FindPath(f, target);
foreach (GraphNode g in graph)
{
g.ResetPrevious();
}
foreach (GraphNode p in path)
{
nodeQueue.Enqueue(p);
}
}
