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remove costly List calls via State attribute, use sorted lists + binary search for open list & IComparable in Node

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also refactor Manhattan overloading and add SignedManhattan func
This commit is contained in:
Xevion
2020-11-24 09:45:36 -06:00
parent e0a7139705
commit a555a701af
4 changed files with 71 additions and 32 deletions
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38
Paths/Assets/Scripts/Algorithms/AStar.cs
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@@ -37,28 +37,36 @@ namespace Algorithms {
// add start node to Open List
_openList.Add(startNode);
while (_openList.Count != 0 && !_closedList.Exists(x => x.Position == endNode.Position)) {
current = _openList[0];
while (_openList.Count != 0) {
current = _openList.First();
_openList.Remove(current);
current.State = NodeState.Closed;
_closedList.Add(current);
if (current.Position == endNode.Position)
break;
RecordState();
Node[] adjacentNodes = this._nodeGrid.GetAdjacentNodesArray(current);
if (true) {
for (int i = 0; i < adjacentNodes.Length; i++) {
Node n = adjacentNodes[i];
if (n == null) continue;
Node node = adjacentNodes[i];
if (node != null && node.State == NodeState.None && node.Walkable) {
// Setup node & calculate new costs
node.Parent = current;
node.DistanceToTarget = NodeGrid.Manhattan(node, endNode);
node.Cost = node.Weight + node.Parent.Cost;
if (!_closedList.Contains(n) && n.Walkable) {
if (!_openList.Contains(n)) {
n.Parent = current;
n.DistanceToTarget = NodeGrid.Manhattan(n, endNode);
n.Cost = n.Weight + n.Parent.Cost;
// Set to open and add to open list (sorted)
node.State = NodeState.Open;
// _openList.Add(node);
_openList.Add(n);
_openList = _openList.OrderBy(node => node.F).ToList();
}
}
int index = _openList.BinarySearch(node);
if (index < 0) index = ~index;
_openList.Insert(index, node);
// _openList = _openList.OrderBy(n => n.F).ToList();
// _openList.Sort((n, o) => n.F.CompareTo(o.F));
}
}
}
@@ -86,7 +94,7 @@ namespace Algorithms {
public void RecordState() {
// TODO: Record pathfinding state information (stages, heuristic, statistical info)
this._states.Add(
new GridState(this._nodeGrid, this._openList, this._closedList, Start, End, _path)
new GridState(this._nodeGrid, this._openList.ToList(), this._closedList, Start, End, _path)
);
}

45
Paths/Assets/Scripts/Algorithms/Node.cs
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@@ -1,20 +1,27 @@
using UnityEngine;
using System;
using UnityEngine;
namespace Algorithms {
public class Node {
public enum NodeState {
None, Open, Closed
}
public class Node : IComparable<Node> {
// Change this depending on what the desired size is for each element in the grid
public Node Parent;
public Vector2Int Position;
public readonly Vector2Int Position;
// A* Algorithm variables
public float DistanceToTarget;
public float Cost;
public float? DistanceToTarget;
public float? Cost;
public float Weight;
public NodeState State = NodeState.None;
public float F {
get {
if (DistanceToTarget != -1 && Cost != -1)
return DistanceToTarget + Cost;
if (DistanceToTarget.HasValue && Cost.HasValue)
return DistanceToTarget.Value + Cost.Value;
return -1;
}
}
@@ -24,14 +31,34 @@ namespace Algorithms {
public Node(Vector2Int pos, bool walkable, float weight = 1) {
Parent = null;
Position = pos;
DistanceToTarget = -1;
DistanceToTarget = null;
Cost = 1;
Weight = weight;
Walkable = walkable;
}
public override bool Equals(object obj) {
return obj is Node node && Position.Equals(node.Position);
}
public override int GetHashCode() {
return Position.GetHashCode();
}
public int CompareTo(Node other) {
int diff = (int) (this.F - other.F);
return diff;
// return diff != 0 ? diff : NodeGrid.SignedManhattan(Position, other.Position);
}
public override string ToString() {
return $"Node({Position.x}, {Position.y}, {Walkable})";
return string.Format(
"Node ({0:00}, {1:00}, {2}, {3})",
Position.x,
Position.y,
Walkable ? "Walkable" : "Not Walkable",
State == NodeState.None ? (Walkable ? "Openable" : "Wall") : State.ToString()
);
}
}
}

14
Paths/Assets/Scripts/Algorithms/NodeGrid.cs
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@@ -55,7 +55,7 @@ namespace Algorithms {
int col = node.Position.x;
int row = node.Position.y;
return new Node[] {
return new [] {
row + 1 < Height ? Grid[col, row + 1] : null,
row - 1 >= 0 ? Grid[col, row - 1] : null,
col - 1 >= 0 ? Grid[col - 1, row] : null,
@@ -67,12 +67,16 @@ namespace Algorithms {
return Grid[position.x, position.y];
}
public static float Manhattan(Node a, Node b) {
return Math.Abs(a.Position.x - b.Position.x) + Math.Abs(a.Position.y - b.Position.y);
public static int Manhattan(Node a, Node b) {
return Manhattan(a.Position, b.Position);
}
public static float Manhattan(Vector2Int a, Vector2Int b) {
return Manhattan(new Node(a, false), new Node(b, false));
public static int SignedManhattan(Vector2Int a, Vector2Int b) {
return a.x - b.x + (a.y - b.y);
}
public static int Manhattan(Vector2Int a, Vector2Int b) {
return Math.Abs(a.x - b.x) + Math.Abs(a.y - b.y);
}
/// <summary>

2
Paths/Assets/Scripts/Manager.cs
View File

@@ -67,7 +67,7 @@ public class Manager : MonoBehaviour {
// Vector2Int start = new Vector2Int(30, 30);
Vector2Int end = nodeGrid.RandomPosition();
nodeGrid.ApplyGenerator(new RandomPlacement(0.25f, true));
nodeGrid.ApplyGenerator(new RandomPlacement(0.20f, true, true));
nodeGrid.GetNode(start).Walkable = true;
nodeGrid.GetNode(end).Walkable = true;