public override bool Equals(object obj)
{
if (obj == null || !(obj is FieldGridCoordinate))
{
return(false);
}
FieldGridCoordinate tmp = (FieldGridCoordinate)obj;
return(tmp.X == X && tmp.Z == Z);
}
public List <FieldGridCoordinate> RecalculatePath(FieldGridCoordinate startField)
{
return(grid.CalculatePath(startField));
}
public Field(int x, int z, float size, Vector3 offset)
{
GridCoordinate = new FieldGridCoordinate(x, z);
this.size = size;
this.offset = offset;
}
public List <FieldGridCoordinate> CalculatePath(FieldGridCoordinate startField)
{
List <Node> nodesToCheck = new List <Node>();
List <Node> checkedNodes = new List <Node>();
nodesToCheck.Add(new Node(startField.X, startField.Z)
{
Cost = 0
});
//InitGraph(nodesToCheck);
while (nodesToCheck.Count > 0)
{
int minCostNode = IndexOfMin(nodesToCheck);
Node tmp = new Node(0, 0);
tmp = nodesToCheck[minCostNode];
nodesToCheck.Remove(tmp);
checkedNodes.Add(tmp);
if (Grid[tmp.coordinate.X, tmp.coordinate.Z].IsGoal)
{
return(CreatePath(tmp));
}
else
{
List <Node> neighbors = new List <Node>();
Node tmpNeighbor;
// Get left neighbor
if (tmp.coordinate.X > 0)
{
tmpNeighbor = new Node(tmp.coordinate.X - 1, tmp.coordinate.Z);
if (!Grid[tmpNeighbor.coordinate.X, tmpNeighbor.coordinate.Z].IsEnvironment && !checkedNodes.Any(node => node.coordinate.Equals(tmpNeighbor.coordinate)))
{
neighbors.Add(tmpNeighbor);
}
}
// Get right neighbor
if (tmp.coordinate.X < x - 1)
{
tmpNeighbor = new Node(tmp.coordinate.X + 1, tmp.coordinate.Z);
if (!Grid[tmpNeighbor.coordinate.X, tmpNeighbor.coordinate.Z].IsEnvironment && !checkedNodes.Any(node => node.coordinate.Equals(tmpNeighbor.coordinate)))
{
neighbors.Add(tmpNeighbor);
}
}
// Get lower neighbor
if (tmp.coordinate.Z > 0)
{
tmpNeighbor = new Node(tmp.coordinate.X, tmp.coordinate.Z - 1);
if (!Grid[tmpNeighbor.coordinate.X, tmpNeighbor.coordinate.Z].IsEnvironment && !checkedNodes.Any(node => node.coordinate.Equals(tmpNeighbor.coordinate)))
{
neighbors.Add(tmpNeighbor);
}
}
// Get upper neighbor
if (tmp.coordinate.Z < z - 1)
{
tmpNeighbor = new Node(tmp.coordinate.X, tmp.coordinate.Z + 1);
if (!Grid[tmpNeighbor.coordinate.X, tmpNeighbor.coordinate.Z].IsEnvironment && !checkedNodes.Any(node => node.coordinate.Equals(tmpNeighbor.coordinate)))
{
neighbors.Add(tmpNeighbor);
}
}
foreach (Node neighbor in neighbors)
{
int pathCost = tmp.Cost + Grid[neighbor.coordinate.X, neighbor.coordinate.Z].GetPathCost();
if (nodesToCheck.Any(node => node.coordinate.Equals(neighbor.coordinate)))
{
tmpNeighbor = nodesToCheck.Find(n => n.coordinate.Equals(neighbor.coordinate));
if (tmpNeighbor.Cost > pathCost)
{
tmpNeighbor.Cost = pathCost;
tmpNeighbor.Previous = tmp;
}
}
else
{
neighbor.Previous = tmp;
neighbor.Cost = pathCost;
nodesToCheck.Add(neighbor);
}
}
}
}
Debug.LogError("Couldn'f find a valid path from [" + startField.X + "," + startField.Z + "]");
return(null);
}
public Node(int x, int z)
{
coordinate = new FieldGridCoordinate(x, z);
}
private IEnumerator RecalculatePath(FieldGridCoordinate coordinate)
{
Path = GameManager.instance.RecalculatePath(nextGoal.GridCoordinate);
pathCalculating = true;
yield return(null);
}
