public TerrainNode[] FindPath(Vector3 start_position, Transform target_transform)
{
TerrainNode start_node = terrain_nodes_list.FindClosestTerrainNodeToPoint(start_position);
TerrainNode target_node = terrain_nodes_list.FindTerrainNodeFromTransform(target_transform);
//print (target_node.transform.name);
AdjacentNode closest_node_to_target = new AdjacentNode(start_node, Vector3.Distance(start_node.position, target_node.position));
Heap <TerrainNode> open_set = new Heap <TerrainNode>(terrain_size);
HashSet <TerrainNode> closed_set = new HashSet <TerrainNode>();
open_set.Add(start_node);
//start_node.transform.gameObject.GetComponent<Renderer>().material = mat_start;
//target_node.transform.gameObject.GetComponent<Renderer>().material = mat_target;
// A* pathfinding algorithm
while (open_set.Count > 0)
{
TerrainNode current_node = open_set.RemoveFirst();
closed_set.Add(current_node);
//current_node.transform.gameObject.GetComponent<Renderer>().material = mat_path;
if (current_node == target_node)
{
return(RetracePath(start_node, target_node));
}
foreach (AdjacentNode adj_neighbour in current_node.GetAdjecentNodesArray())
{
TerrainNode neighbour = adj_neighbour.terrain_node;
if (closed_set.Contains(neighbour))
{
continue;
}
float new_movement_cost_to_new_neighbour = current_node.g_cost + adj_neighbour.distance;
if (new_movement_cost_to_new_neighbour < neighbour.g_cost || !open_set.Contains(neighbour))
{
neighbour.g_cost = new_movement_cost_to_new_neighbour;
neighbour.h_cost = Vector3.Distance(neighbour.position, target_node.position);
neighbour.parent = current_node;
if (!open_set.Contains(neighbour))
{
open_set.Add(neighbour);
}
else
{
open_set.UpdateItem(neighbour);
}
if (neighbour.h_cost < closest_node_to_target.distance)
{
closest_node_to_target = new AdjacentNode(neighbour, neighbour.h_cost);
}
}
}
}
// no path found, return the closest node to target
return(FindPath(start_position, closest_node_to_target.transform));
}
void UpdateCubes(RaycastHit hit)
{
// Change Materials
foreach (TerrainNode terrain_node in terrain_nodes_list)
{
terrain_node.transform.gameObject.GetComponent <Renderer>().material = mat_white;
}
TerrainNode terrain_node_hit = terrain_nodes_list.FindTerrainNodeFromTransform(hit.collider.transform);
terrain_node_hit.transform.gameObject.GetComponent <Renderer>().material = mat_red;
if (terrain_node_hit.GetAdjecentNodesArray().Length == 0)
{
Debug.Log("This node is unreachable");
}
else
{
foreach (AdjacentNode adjacent_node in terrain_node_hit.GetAdjecentNodesArray())
{
adjacent_node.transform.gameObject.GetComponent <Renderer>().material = mat_green;
}
}
}
