private static unsafe bool SearchForPath(int2 currentNode, int2 targetNode, NativeArray2D <MapNode> gridCopy)
{
MapNode *currentNodePtr = gridCopy.GetPointerToElement(currentNode);
NativeList <MapNode> passableNeighbours = GetPassableNeighbours(currentNode, gridCopy, currentNodePtr);
NodeCompare nodeCompare = new NodeCompare();
passableNeighbours.Sort(nodeCompare);
currentNodePtr->state = NodeState.Closed;
for (int i = 0; i < passableNeighbours.Length; ++i)
{
MapNode neighbour = passableNeighbours[i];
currentNodePtr->child = gridCopy.GetPointerToElement(neighbour.gridPosition);
//Target has been reached.
if (neighbour.gridPosition.Equals(targetNode))
{
passableNeighbours.Dispose();
return(true);
}
//Recursively search deeper.
if (SearchForPath(neighbour.gridPosition, targetNode, gridCopy))
{
passableNeighbours.Dispose();
return(true);
}
}
passableNeighbours.Dispose();
return(false);
}
private static List <NodeCompare> ExtractNodeCompare(MyNode node, string[] attrs, string containerXML)
{
List <NodeCompare> attrsValues = new List <NodeCompare>();
if (node.ExecutationState.Xml == null)
{
return(attrsValues);
}
IEnumerable <XElement> elements;
if (!string.IsNullOrEmpty(containerXML))
{
elements = node.ExecutationState.Xml.Descendants(containerXML).Descendants().Distinct();
}
else
{
elements = node.ExecutationState.Xml.Descendants().Distinct();
}
foreach (XElement e in elements)
{
for (int i = 0; i < attrs.Length; i++)
{
if (e.Attribute(attrs[i]) != null && e.Attribute(attrs[i]).Value.Trim() != "")
{
string[] words = e.Attribute(attrs[i]).Value.Trim().Split(' ').Select(w => w.ToLower()).ToArray();
foreach (string word in words)
{
if (!string.IsNullOrEmpty(word.Trim()))
{
NodeCompare n = attrsValues.Find(w => w.WordInNode == word);
if (n.Qtd > 0)
{
n.Qtd++;
}
else
{
NodeCompare v = new NodeCompare()
{
WordInNode = word,
Qtd = 1
};
attrsValues.Add(v);
}
}
}
}
}
}
return(attrsValues);
}
public Node[] shortestWay(Node objectif, Node start)
{
NodeCompare nc = new NodeCompare();
/*List<Node> sort = new List<Node> ();
* sort.Add (new Node (5, 6, 0, 1));
* sort.Add (new Node (5, 7, 0, 2));
* sort.Sort (nc);*/
Node[] nodeF = new Node[1];
nodeF [0] = new Node(0, 0, 0);
List <Node> closedList = new List <Node> ();
List <Node> openList = new List <Node> ();
openList.Add(start);
openList.Sort(nc);
while (openList.Count != 0)
{
Node u = openList [0];
openList.RemoveAt(0);
if (u.x == objectif.x && u.y == objectif.y && u.z == objectif.z)
{
nodeF = new Node[u.cost + 1];
nodeF = reconstitutePath(closedList, objectif, u.cost);
break;
}
else
{
foreach (Vector3 v in voisin)
{
if (v.x + u.x >= start.x - vision && v.x + u.x <= start.x + vision && v.y + u.y >= start.y - Mathf.FloorToInt(vision / 2) && v.y + u.y <= start.y + Mathf.FloorToInt(vision / 2) && v.z + u.z >= start.z - vision && v.z + u.z <= start.z + vision)
{
if (graphVerity [(int)v.x + u.x - start.x + vision, (int)v.y + u.y - start.y + Mathf.FloorToInt(vision / 2), (int)v.z + u.z - start.z + vision])
{
Node vnode = new Node((int)v.x + u.x, (int)v.y + u.y, (int)v.z + u.z, u.cost + 1, (int)u.cost + 1 + Mathf.FloorToInt(Mathf.Sqrt(Mathf.Pow(u.x + v.x - objectif.x, 2) + Mathf.Pow(u.y + v.y - objectif.y, 2) + Mathf.Pow(u.z + v.z - objectif.z, 2))));
if (nodeExistAndHasSmallCost(vnode, openList) && nodeExistAndHasSmallHeuristic(vnode, closedList))
{
deleteDuplicateNode(vnode.x, vnode.y, vnode.z, openList);
openList.Add(vnode);
openList.Sort(nc);
}
}
}
}
}
closedList.Add(u);
}
/*int[,] tab = new int[2 * vision + 1, 2 * vision + 1];
*
* for (int x = 0; x < 2 * vision + 1; x++) {
* for (int y = 0; y < 2 * vision + 1; y++) {
* tab [x, y] = -1;
* }
* }
*
* foreach (Node n in closedList) {
* if(tab [n.x - start.x + vision, n.z - start.z + vision] == -1 || tab [n.x - start.x + vision, n.z - start.z + vision] > n.heuristic)
* tab [n.x - start.x + vision, n.z - start.z + vision] = n.heuristic;
* }
*
* string lines = "";
* string lines2 = "";
*
* for (int x = 0; x < 2 * vision + 1; x++) {
* for (int y = 0; y < 2 * vision + 1; y++) {
* if (graphVerity [x, y]) {
* if (tab [x, y] < 10 && tab [x, y] >= 0)
* lines += " " + tab [x, y] + ", ";
* else
* lines += tab [x, y] + ", ";
* }
* else
* lines += "-5, ";
* }
* lines += "\r\n";
* }
*
* System.IO.StreamWriter file = new System.IO.StreamWriter("closedList.txt");
* file.WriteLine(lines);
*
* file.Close();*/
return(nodeF);
}
