diff options
Diffstat (limited to 'Pathfinding Visualizer/Assets/Scripts/PathNode.cs')
| -rw-r--r-- | Pathfinding Visualizer/Assets/Scripts/PathNode.cs | 77 |
1 files changed, 33 insertions, 44 deletions
diff --git a/Pathfinding Visualizer/Assets/Scripts/PathNode.cs b/Pathfinding Visualizer/Assets/Scripts/PathNode.cs index 8b13bfa..4ad2070 100644 --- a/Pathfinding Visualizer/Assets/Scripts/PathNode.cs +++ b/Pathfinding Visualizer/Assets/Scripts/PathNode.cs @@ -11,8 +11,8 @@ using UnityEngine; public static int col = 1; Node parent; - int[] agent; - List<int[]> samples; + Vector2Int agent; + List<Vector2Int> samples; char lastMove; // for output/animation int distanceTraveled; // for calculating f(n) value double heuristic; @@ -20,11 +20,11 @@ using UnityEngine; bool canSample; // for expansion // construct node :) - public Node(Node parent, int[] agent, List<int[]> samples, char lastMove, int distanceTraveled, double heuristic) + public Node(Node parent, Vector2Int agent, List<Vector2Int> samples, char lastMove, int distanceTraveled, double heuristic) { this.parent = parent; this.agent = agent; - this.samples = new List<int[]>(samples); + this.samples = samples; this.lastMove = lastMove; this.distanceTraveled = distanceTraveled; this.heuristic = heuristic; @@ -40,7 +40,7 @@ using UnityEngine; // document expansion of node and get ready to collect this node's children // SampleWorld.expansions++; - int[] onSample = new int[2]; + Vector2Int onSample = new Vector2Int(); // since this state is being currently visited (expanded), put in closed list Pathfinder.closed.Add(this.getState()); @@ -50,10 +50,10 @@ using UnityEngine; //////////////////////////////////// // store coordinates for all potential moves to be checked - int[] up = { this.agent[row] - 1, this.agent[col] }; - int[] down = { this.agent[row] + 1, this.agent[col] }; - int[] left = { this.agent[row], this.agent[col] - 1 }; - int[] right = { this.agent[row], this.agent[col] + 1 }; + Vector2Int up = new Vector2Int( this.agent.y - 1, this.agent.x ); + Vector2Int down = new Vector2Int( this.agent.y + 1, this.agent.x ); + Vector2Int left = new Vector2Int( this.agent.y, this.agent.x - 1 ); + Vector2Int right = new Vector2Int( this.agent.y, this.agent.x + 1 ); // make sure going up doesn't go outside world-bounds or into obstacle if (isOpen(up)) @@ -97,12 +97,12 @@ using UnityEngine; // CHECK IF CAN SAMPLE onSample = CanSample(); - if (onSample[0] == 1) + if (onSample.x == 1) { Node child = new Node(this, this.agent, this.samples, 'S', this.distanceTraveled + 1, this.heuristic); // PROBLEM? - child.samples.RemoveAt(onSample[1]); + child.samples.RemoveAt(onSample.y); //SampleWorld.nodesGenerated++; children.Add(child); @@ -112,33 +112,29 @@ using UnityEngine; } // helper for expand, verifies whether potential move is legal - public bool isOpen(int[] position) + public bool isOpen(Vector2Int position) { // check that agent is not trying to move into an obstacle for (int i = 0; i < Pathfinder.obstacles.Count(); i++) { - int[] coord = new int[2]; - coord[0] = Pathfinder.obstacles[i][0][0]; - coord[1] = Pathfinder.obstacles[i][1][0]; - if (Pathfinder.obstacles[i][0][0] == position[0] && Pathfinder.obstacles[i][1][0] == position[1]) + if (Pathfinder.obstacles[i].x == position.x && Pathfinder.obstacles[i].y == position.y) return false; } // check that agent is not stepping out of the world - if (!((position[row] >= 0) && (position[row] <= Pathfinder.height - 1) && (position[col] >= 0) && (position[col] <= Pathfinder.width - 1))) + if (!((position.y >= 0) && (position.y <= Pathfinder.height - 1) && (position.x >= 0) && (position.x <= Pathfinder.width - 1))) return false; return true; } // returns the coordinates of the sample closest to the agent's current location - public int[] nearestSample() + public Vector2Int nearestSample() { if (samples.Count == 0) return agent; - // PROBLEM? - int[] s = samples[0]; + Vector2Int s = samples[0]; double lowest = distance(agent, samples[0]); double dist; @@ -154,10 +150,10 @@ using UnityEngine; return s; } // helper function for nearestSample() - public static double distance(int[] a, int[] b) + public static double distance(Vector2Int a, Vector2Int b) { // _________________________ // distance between 2D points = √(y2 - y1)^2 + (x2 - x1)^2 - double total = (((b[row] - a[row]) * (b[row] - a[row])) + ((b[col] - a[col]) * (b[col] - a[col]))); + double total = (((b.y - a.y) * (b.y - a.y)) + ((b.x - a.x) * (b.x - a.x))); total = Math.Sqrt(total); return total; @@ -168,17 +164,16 @@ using UnityEngine; // returns two pieces of information if true: // [0] is 1 to indicate agent can sample // [1] is the index of the valid sample in the list - public int[] CanSample() + public Vector2Int CanSample() { // default to false - int[] result = new int[2]; - result[0] = 0; - result[1] = -1; + Vector2Int result = new Vector2Int(); + result.x = 0; + result.y = -1; for (int i = 0; i < this.samples.Count; i++) { - // PROBLEM? - if ((this.agent[row] == samples[i][row]) && (this.agent[col] == samples[i][col])) + if ((this.agent.y == samples[i].y) && (this.agent.x == samples[i].x)) { result[0] = 1; result[1] = i; @@ -221,21 +216,19 @@ using UnityEngine; // helper class for Node public class State { - int[] agent; - int[][] samples; + Vector2Int agent; + List<Vector2Int> samples; - public State(int[] agent, List<int[]> samples) + public State(Vector2Int agent, List<Vector2Int> samples) { - // PROBLEM? this.agent = agent; - this.samples = new int[samples.Count][]; + this.samples = samples; // convert List<int[]> into 2D array of ints [][] - for (int i = 0; i < samples.Count; i++) + /*for (int i = 0; i < samples.Count; i++) { - // PROBLEM?? this.samples[i] = samples[i]; - } + }*/ } public bool inClosed() @@ -252,21 +245,17 @@ using UnityEngine; public bool equals(State other) { - if (this.samples.Length != other.samples.Length) + if (this.samples.Count != other.samples.Count) return false; - // PROBLEM? - if (!this.agent[0].Equals(other.agent[0]) && !this.agent[1].Equals(other.agent[1])) + if (!(this.agent.x.Equals(other.agent.x) && this.agent.y.Equals(other.agent.y))) return false; - for (int i = 0; i < this.samples.Length; i++) + for (int i = 0; i < this.samples.Count; i++) { //if (Arrays.compare(this.samples[i], other.samples[i]) != 0) - // PROBLEM? - if (!(this.samples.Rank == other.samples.Rank) && - !(Enumerable.Range(0, this.samples.Rank).All(dimension => this.samples.GetLength(dimension) == other.samples.GetLength(dimension))) && - !(this.samples.Cast<double>().SequenceEqual(other.samples.Cast<double>()))) + if (this.samples.SequenceEqual(other.samples)) return false; } |