public bool Search(out GlobalPath solution, bool returnPartialSolution = false)
{
solution = null;
NodeRecord bestNode = null;
for (int max = 0; max < this.NodesPerFrame; max++)
{
if (Open.CountOpen() == 0)
{
this.InProgress = false;
break;
}
bestNode = Open.GetBestAndRemove();
this.TotalExploredNodes++;
if (bestNode.node == this.GoalNode)
{
solution = CalculateSolution(bestNode, returnPartialSolution);
this.InProgress = false;
return(true);
}
Closed.AddToClosed(bestNode);
var outConnections = bestNode.node.OutEdgeCount;
//Debug.Log(bestNode.hValue);
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(bestNode, bestNode.node.EdgeOut(i), i);
}
}
this.TotalProcessingTime += Time.deltaTime;
//solution = CalculateSolution(bestNode, true);
return(true);
}
protected virtual void ProcessChildNode(NodeRecord parentNode, NavigationGraphEdge connectionEdge, int edgeIndex)
{
//this is where you process a child node
var childNode = GenerateChildNodeRecord(parentNode, connectionEdge);
NodeRecord childOpen = Open.SearchInOpen(childNode);
NodeRecord childClose = Closed.SearchInClosed(childNode);
if (childOpen == null && childClose == null)
{
Open.AddToOpen(childNode);
if (this.MaxOpenNodes < Open.CountOpen())
{
this.MaxOpenNodes = Open.CountOpen();
}
// childOpen.status = NodeStatus.Open;
}
else if (childOpen != null && childOpen.fValue > childNode.fValue)
{
Open.Replace(childOpen, childNode);
}
else if (childClose != null && childClose.fValue > childNode.fValue)
{
Closed.RemoveFromClosed(childClose);
Open.AddToOpen(childNode);
//childOpen.status = NodeStatus.Open;
}
}
protected override void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge, int edgeIndex)
{
float f;
float g;
float h;
var childNode = connectionEdge.ToNode;
var childNodeRecord = this.NodeRecordArray.GetNodeRecord(childNode);
if (childNodeRecord == null)
{
//this piece of code is used just because of the special start nodes and goal nodes added to the RAIN Navigation graph when a new search is performed.
//Since these special goals were not in the original navigation graph, they will not be stored in the NodeRecordArray and we will have to add them
//to a special structure
//it's ok if you don't understand this, this is a hack and not part of the NodeArrayA* algorithm, just do NOT CHANGE THIS, or your algorithm will not work
childNodeRecord = new NodeRecord
{
node = childNode,
parent = bestNode,
status = NodeStatus.Unvisited
};
this.NodeRecordArray.AddSpecialCaseNode(childNodeRecord);
return;
}
g = bestNode.gValue + (childNodeRecord.node.LocalPosition - bestNode.node.LocalPosition).magnitude;
h = this.Heuristic.H(childNodeRecord.node, this.GoalNode);
f = F(g, h);
//childNodeRecord = GenerateChildNodeRecord(bestNode, connectionEdge);
var childOpen = this.Open.SearchInOpen(childNodeRecord);
var childClosed = this.Closed.SearchInClosed(childNodeRecord);
if (childNodeRecord.status == NodeStatus.Unvisited)
{
childNodeRecord = GenerateChildNodeRecord(bestNode, connectionEdge);
Open.AddToOpen(childNodeRecord);
int count = Open.CountOpen();
if (this.MaxOpenNodes < count)
{
this.MaxOpenNodes = count;
}
}
else if (childNodeRecord.status == NodeStatus.Open && childOpen != null && childOpen.fValue > childNodeRecord.fValue)
{
childNodeRecord = GenerateChildNodeRecord(bestNode, connectionEdge);
this.Open.Replace(childOpen, childNodeRecord);
}
else if (childNodeRecord.status == NodeStatus.Closed && childClosed != null && childClosed.fValue > childNodeRecord.fValue)
{
childNodeRecord = GenerateChildNodeRecord(bestNode, connectionEdge);
this.Closed.RemoveFromClosed(childClosed);
this.Open.AddToOpen(childNodeRecord);
}
}
public virtual bool Search(out GlobalPath solution, bool returnPartialSolution = false)
{
solution = null;
if (InitialTime == -1.0f)
{
InitialTime = Time.realtimeSinceStartup;
}
float finalTime = 0f;
for (int i = 0; Open.CountOpen() > 0; ++i)
{
NodeRecord record = Open.GetBestAndRemove();
if (i >= NodesPerSearch)
{
if (returnPartialSolution)
{
solution = CalculateSolution(record, returnPartialSolution);
}
return(false);
}
// update debug information
if (Open.CountOpen() > MaxOpenNodes)
{
MaxOpenNodes = Open.CountOpen();
}
++TotalProcessedNodes;
if (record.node == GoalNode)
{
solution = CalculateSolution(record, returnPartialSolution);
CleanUp();
finalTime = Time.realtimeSinceStartup;
TotalProcessingTime = finalTime - InitialTime;
return(true);
}
Closed.AddToClosed(record);
for (int e = 0; e < record.node.OutEdgeCount; ++e)
{
ProcessChildNode(record, record.node.EdgeOut(e));
}
}
CleanUp();
finalTime = Time.realtimeSinceStartup;
TotalProcessingTime = finalTime - InitialTime;
return(true);
}
public bool Search(out GlobalPath solution, bool returnPartialSolution)
{
//TODO: implement this
//to determine the connections of the selected nodeRecord you need to look at the NavigationGraphNode' EdgeOut list
//something like this
//var outConnections = bestNode.node.OutEdgeCount;
//for (int i = 0; i < outConnections; i++)
//{
//this.ProcessChildNode(bestNode, bestNode.node.EdgeOut(i));
if (this.Open.CountOpen() == 0)
{
//Debug.Log("acabou1");
solution = null;
return(true);
}
var currentNode = Open.GetBestAndRemove();
if (this.GoalNode == currentNode.node)
{
//Debug.Log("acabou2");
solution = CalculateSolution(currentNode, false);
return(true);
}
if (returnPartialSolution)
{
solution = CalculateSolution(currentNode, true);
return(true);
}
this.Closed.AddToClosed(currentNode);
this.TotalExploredNodes += 1;
uint outConnections = (uint)currentNode.node.OutEdgeCount;
if (outConnections > this.NodesPerFrame)
{
outConnections = this.NodesPerFrame; //setting nodes visited each frame
}
if (Open.CountOpen() > this.MaxOpenNodes)
{
this.MaxOpenNodes = Open.CountOpen();
}
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(currentNode, currentNode.node.EdgeOut(i), i);
}
this.TotalProcessingTime += Time.deltaTime; //check later
solution = null;
return(false);
}
public bool Search(out GlobalPath solution, bool returnPartialSolution = false)
{
var startTime = Time.realtimeSinceStartup;
int counter = 0;
while (true)
{
if (Open.CountOpen() == 0)
{
solution = null;
TotalProcessingTime += Time.realtimeSinceStartup - startTime;
CleanUp();
return(true);
}
NodeRecord bestNode = Open.GetBestAndRemove();
if (bestNode.node.Equals(GoalNode))
{
solution = CalculateSolution(bestNode, false);
this.InProgress = false;
TotalProcessingTime += Time.realtimeSinceStartup - startTime;
CleanUp();
return(true);
}
Closed.AddToClosed(bestNode);
//to determine the connections of the selected nodeRecord you need to look at the NavigationGraphNode' EdgeOut list
//something like this
var outConnections = bestNode.node.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(bestNode, bestNode.node.EdgeOut(i));
}
if (counter >= NodesPerSearch)
{
TotalProcessingTime += Time.realtimeSinceStartup - startTime;
solution = CalculateSolution(bestNode, true);
return(false);
}
counter += 1;
TotalProcessedNodes += 1;
if (MaxOpenNodes <= Open.CountOpen())
{
MaxOpenNodes = Open.CountOpen();
}
}
}
public void Search(NavigationGraphNode startNode, NodeGoalBounds nodeGoalBounds)
{
//TODO: Implement the algorithm that calculates the goal bounds using a dijkstra
//Given that the nodes in the graph correspond to the edges of a polygon, we won't be able to use the vertices of the polygon to update the bounding boxes
this.Open.Initialize();
this.Closed.Initialize();
//Initialize starting node for Dijkstra
NodeRecord StartNode = NodeRecordArray.GetNodeRecord(startNode);
StartNode.gValue = 0;
StartNode.StartNodeOutConnectionIndex = -1; // -1 corresponds to not having a "color". Valid indices will start at 0
Open.AddToOpen(StartNode);
//Dijkstra
while (Open.CountOpen() > 0)
{
NodeRecord currentNode = Open.GetBestAndRemove();
Open.RemoveFromOpen(currentNode);
Closed.AddToClosed(currentNode);
//We don't fill out the starting position as it is colorless
if (currentNode.StartNodeOutConnectionIndex != -1)
{
var outFillConnections = currentNode.node.OutEdgeCount;
Vector3 edgePosition;
//Update the bounding box with all positions of EdgeOuts of the current Node
for (int i = 0; i < outFillConnections; i++)
{
edgePosition = currentNode.node.EdgeOut(i).ToNode.Position;
nodeGoalBounds.connectionBounds[currentNode.StartNodeOutConnectionIndex].UpdateBounds(edgePosition); //update only the bound corresponding to the ConnectionIndex
}
}
//Process Child Nodes
var outConnections = currentNode.node.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(currentNode, currentNode.node.EdgeOut(i), i);
}
}
}
public bool Search(out GlobalPath solution, bool returnPartialSolution = false)
{
//TODO: implement this
//to determine the connections of the selected nodeRecord you need to look at the NavigationGraphNode' EdgeOut list
//something like this
int nodesVisited = 0;
NodeRecord bestNode;
while (this.Open.CountOpen() > 0)
{
if (Open.CountOpen() > MaxOpenNodes)
{
MaxOpenNodes = Open.CountOpen();
}
bestNode = this.Open.GetBestAndRemove();
this.Closed.AddToClosed(bestNode);
if (bestNode.node.Equals(GoalNode))
{
solution = CalculateSolution(bestNode, false);
TotalProcessingTime += Time.deltaTime;
CleanUp();
InProgress = false;
return(true);
}
for (int i = 0; i < bestNode.node.OutEdgeCount; i++)
{
this.ProcessChildNode(bestNode, bestNode.node.EdgeOut(i), i);
}
nodesVisited++;
TotalExploredNodes++;
if (returnPartialSolution && nodesVisited == NodesPerFrame)
{
solution = CalculateSolution(bestNode, true);
TotalProcessingTime += Time.deltaTime;
return(false);
}
}
CleanUp();
InProgress = false;
solution = null;
TotalProcessingTime += Time.deltaTime;
return(true);
}
public bool Search(out GlobalPath solution, bool returnPartialSolution = false)
{
var openCount = Open.CountOpen();
solution = null;
for (int j = 0; j < this.NodesPerFrame; j++)
{
if (openCount == 0)
{
solution = null;
this.InProgress = false;
this.TotalProcessingTime += Time.time;
return(true);
}
var bestNode = Open.GetBestAndRemove();
this.TotalExploredNodes++;
Closed.AddToClosed(bestNode);
if (bestNode.node.Equals(GoalNode))
{
solution = CalculateSolution(bestNode, false);
this.InProgress = false;
this.TotalProcessingTime += Time.time;
return(true);
}
var outConnections = bestNode.node.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(bestNode, bestNode.node.EdgeOut(i), i);
}
openCount = this.Open.CountOpen();
if (openCount > this.MaxOpenNodes)
{
this.MaxOpenNodes = openCount;
}
}
if (returnPartialSolution)
{
solution = CalculateSolution(Open.PeekBest(), true);
}
return(false);
}
public void Search(NavigationGraphNode startNode, NodeGoalBounds nodeGoalBounds)
{
this.Open.Initialize();
this.Closed.Initialize();
StartNode = startNode;
var startNodeRecord = this.NodeRecordArray.GetNodeRecord(startNode);
startNodeRecord.gValue = 0;
startNodeRecord.hValue = 0;
startNodeRecord.fValue = F(startNodeRecord);
Closed.AddToClosed(startNodeRecord);
var outConnectionsStart = startNodeRecord.node.OutEdgeCount;
for (int i = 0; i < outConnectionsStart; i++)
{
ProcessChildNode(startNodeRecord, startNodeRecord.node.EdgeOut(i), i);
NavigationGraphNode childNode = startNodeRecord.node.EdgeOut(i).ToNode;
var childNodeRecord = this.NodeRecordArray.GetNodeRecord(childNode);
nodeGoalBounds.connectionBounds[i].InitializeBounds(childNodeRecord.node.LocalPosition);
}
while (Open.CountOpen() > 0)
{
var bestNode = Open.GetBestAndRemove();
this.Closed.AddToClosed(bestNode);
//UnityEngine.Debug.Log("Parent index: " + bestNode.StartNodeOutConnectionIndex);
nodeGoalBounds.connectionBounds[bestNode.StartNodeOutConnectionIndex].UpdateBounds(bestNode.node.LocalPosition);
var outConnections = bestNode.node.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
ProcessChildNode(bestNode, bestNode.node.EdgeOut(i), bestNode.StartNodeOutConnectionIndex);
}
}
}
public int CountOpen()
{
return Open.CountOpen();
}
//this method should return true if it finished processing, and false if it still needs to continue
public bool MapFloodDijkstra()
{
var processedNodes = 0;
while (Open.CountOpen() > 0)
{
processedNodes++;
if (processedNodes > NodesPerFlood)
{
return(false);
}
LocationRecord currentRecord = Open.GetBestAndRemove();
Closed.AddToClosed(currentRecord);
int outConnections = currentRecord.Location.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
var location = GenerateChildNodeRecord(currentRecord, currentRecord.Location.EdgeOut(i));
float influence = InfluenceFunction.DetermineInfluence(currentRecord.StrongestInfluenceUnit, location.Location.Position);
if (InfluenceThreshold.CompareTo(influence) > 0)
{
continue;
}
LocationRecord neighborRecord = Closed.SearchInClosed(location);
if (neighborRecord != null)
{
if (neighborRecord.Influence >= influence)
{
continue;
}
else
{
Closed.RemoveFromClosed(neighborRecord);
}
}
else
{
neighborRecord = Open.SearchInOpen(location);
if (neighborRecord != null)
{
if (neighborRecord.Influence < influence)
{
neighborRecord.StrongestInfluenceUnit = currentRecord.StrongestInfluenceUnit;
neighborRecord.Influence = influence;
}
continue;
}
else //we found a new record not in open or closed
{
neighborRecord = new LocationRecord();
neighborRecord.Location = location.Location;
}
}
neighborRecord.StrongestInfluenceUnit = currentRecord.StrongestInfluenceUnit;
neighborRecord.Influence = influence;
Open.AddToOpen(neighborRecord);
}
}
this.InProgress = false;
//this.CleanUp();
return(true);
}
public bool Search(out GlobalPath solution, bool returnPartialSolution = false)
{
var time = UnityEngine.Time.realtimeSinceStartup;
var nodesprocessed = 0;
var maximumOpen = 0;
//to determine the connections of the selected nodeRecord you need to look at the NavigationGraphNode' EdgeOut list
//something like this
while (true)
{
if (Open.CountOpen() > maximumOpen)
{
maximumOpen = Open.CountOpen();
}
if (Open.CountOpen() == 0)
{
solution = null;
InProgress = false;
TotalProcessedNodes += (uint)nodesprocessed;
TotalProcessingTime = UnityEngine.Time.realtimeSinceStartup - time;
MaxOpenNodes = maximumOpen;
return(true);
}
NodeRecord bestNode = Open.GetBestAndRemove();
if (nodesprocessed > NodesPerSearch)
{
if (returnPartialSolution)
{
solution = CalculateSolution(bestNode, returnPartialSolution);
}
else
{
solution = null;
}
InProgress = true;
TotalProcessedNodes += (uint)nodesprocessed;
TotalProcessingTime = UnityEngine.Time.realtimeSinceStartup - time;
MaxOpenNodes = maximumOpen;
return(false);
}
if (bestNode.node == GoalNode)
{
solution = CalculateSolution(bestNode, false);
InProgress = false;
TotalProcessedNodes += (uint)nodesprocessed;
TotalProcessingTime = UnityEngine.Time.realtimeSinceStartup - time;
MaxOpenNodes = maximumOpen;
return(true);
}
Closed.AddToClosed(bestNode);
nodesprocessed++;
//
//TODO put your code here
//or if you would like, you can change just these lines of code this in the original A* Pathfinding Base Class,
//create a ProcessChildNode method in the base class with the code from the previous A* algorithm.
//if you do this, then you don't need to implement this search method method. Just delete this and don't forget to override the ProcessChildMethod if you do this
var outConnections = bestNode.node.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(bestNode, bestNode.node.EdgeOut(i));
}
}
}
public bool Search(out GlobalPath solution, bool returnPartialSolution = false)
{
//TODO put the code from the previous LAB here
//you will get compiler errors, because I change the method names in the IOpenSet and IClosedSet interfaces
//sorry but I had to do it because if not, Unity profiler would consider the Search method in Open and Closed to be the same
//and you would not be able to see the difference in performance searching the Open Set and in searching the closed set
//so just replace this.Open.Search(...) by this.Open.SearchInOpen(...) and all other methods where you get the compilation errors
var CurrentSearchNodes = 0;
var NodesProcessed = 0;
var MaxOpenSize = 0;
float StartTime = Time.realtimeSinceStartup;
while (true)
{
if (Open.CountOpen() > MaxOpenSize)
{
MaxOpenSize = Open.CountOpen();
}
if (Open.CountOpen() == 0)
{
solution = null;
TotalProcessedNodes = (uint)NodesProcessed;
MaxOpenNodes = MaxOpenSize;
this.InProgress = false;
TotalProcessingTime = Time.realtimeSinceStartup - StartTime;
return(true);
}
if (NodesPerSearch < CurrentSearchNodes)
{
if (returnPartialSolution)
{
solution = CalculateSolution(this.Open.PeekBest(), returnPartialSolution);
}
else
{
solution = null;
}
TotalProcessedNodes = (uint)NodesProcessed;
MaxOpenNodes = MaxOpenSize;
TotalProcessingTime = Time.realtimeSinceStartup - StartTime;
return(false);
}
NodeRecord CurrentNode = Open.GetBestAndRemove();
if (CurrentNode.node == GoalNode)
{
InProgress = false;
TotalProcessedNodes = (uint)NodesProcessed;
MaxOpenNodes = MaxOpenSize;
TotalProcessingTime = Time.realtimeSinceStartup - StartTime;
solution = CalculateSolution(CurrentNode, false);
return(true);
}
Closed.AddToClosed(CurrentNode);
CurrentSearchNodes++;
NodesProcessed++;
var NodeActions = CurrentNode.node.OutEdgeCount;
for (int i = 0; i < NodeActions; i++)
{
ProcessChildNode(CurrentNode, CurrentNode.node.EdgeOut(i));
}
}
}
