// A* search for finding shortest path.
public List<GameObject> NearestAstar(GameObject root, GameObject target)
{
HexEntity rootEntity = root.GetComponent<HexEntity>();
HexEntity targetEntity = target.GetComponent<HexEntity>();
List<GameObject> closed = new List<GameObject>();
List<GameObject> open = new List<GameObject>();
Dictionary<GameObject, GameObject> cameFrom = new Dictionary<GameObject, GameObject>();
open.Add(root);
Dictionary<GameObject, float> gScore = new Dictionary<GameObject, float>();
Dictionary<GameObject, float> fScore = new Dictionary<GameObject, float>();
gScore[root] = 0;
fScore[root] = rootEntity.Distance(targetEntity);
while (open.Count != 0)
{
GameObject current = _minFScore(fScore, open);
HexEntity currentEntity = current.GetComponent<HexEntity>();
if (current == target)
return _reconstructAstarPath(cameFrom, current);
List<GameObject> neighbors = GetNeighbors(current);
if (neighbors.Contains(target))
{
cameFrom[target] = current;
current = target;
return _reconstructAstarPath(cameFrom, current);
}
open.Remove(current);
closed.Remove(current);
foreach (GameObject neighbor in neighbors)
{
if (!gScore.ContainsKey(neighbor))
gScore[neighbor] = Mathf.Infinity;
if (!fScore.ContainsKey(neighbor))
fScore[neighbor] = Mathf.Infinity;
HexEntity neighborEnt = neighbor.GetComponent<HexEntity>();
if (closed.Contains(neighbor))
continue;
float tentativeGscore = gScore[current] + 1;//currentEntity.Distance(neighborEnt);
if (tentativeGscore <= gScore[neighbor])
{
cameFrom[neighbor] = current;
gScore[neighbor] = tentativeGscore;
float h = Vector3.Distance(neighbor.transform.position, target.transform.position);
fScore[neighbor] = gScore[neighbor] + h;
if (!open.Contains(neighbor))
open.Add(neighbor);
}
}
}
return open;
}
public List <GameObject> CreatePath(GameObject root, GameObject target, int maxAttempts = 100)
{
HexEntity rootEntity = root.GetComponent <HexEntity>();
HexEntity targetEntity = target.GetComponent <HexEntity>();
List <GameObject> closed = new List <GameObject>();
List <GameObject> open = new List <GameObject>();
Dictionary <GameObject, GameObject> cameFrom = new Dictionary <GameObject, GameObject>();
open.Add(root);
Dictionary <GameObject, float> gScore = new Dictionary <GameObject, float>();
Dictionary <GameObject, float> fScore = new Dictionary <GameObject, float>();
gScore[root] = 0;
fScore[root] = rootEntity.Distance(targetEntity);
int attempts = 0;
while (open.Count != 0)
{
if (attempts > maxAttempts)
{
break;
}
GameObject current = MinFScore(fScore, open);
HexEntity currentEntity = current.GetComponent <HexEntity>();
if (current == target)
{
return(ReconstructPath(cameFrom, current));
}
List <GameObject> neighbors = GetNeighbors(current);
if (neighbors.Contains(target))
{
cameFrom[target] = current;
current = target;
return(ReconstructPath(cameFrom, current));
}
open.Remove(current);
closed.Remove(current);
foreach (GameObject neighbor in neighbors)
{
if (!gScore.ContainsKey(neighbor))
{
gScore[neighbor] = Mathf.Infinity;
}
if (!fScore.ContainsKey(neighbor))
{
fScore[neighbor] = Mathf.Infinity;
}
HexEntity neighborEnt = neighbor.GetComponent <HexEntity>();
if (closed.Contains(neighbor))
{
continue;
}
float tentativeGscore = gScore[current] + 1;//currentEntity.Distance(neighborEnt);
if (tentativeGscore <= gScore[neighbor])
{
cameFrom[neighbor] = current;
gScore[neighbor] = tentativeGscore;
float h = Vector3.Distance(neighbor.transform.position, target.transform.position);
fScore[neighbor] = gScore[neighbor] + h;
if (!open.Contains(neighbor))
{
open.Add(neighbor);
}
}
}
attempts += 1;
}
return(open);
}