Unity 2018 Artificial Intelligence Cookbook - Second Edition

There's more...

We will learn how to modify the current Dijkstra algorithm in order to approach the problem using pre-processing techniques and optimizing the path-finding time. It can be seen as three big steps—modifying the main algorithm, creating the pre-processing function (handy in editor mode, for example), and, finally, defining the path retrieval function:

1. Modify the main function's signature:

public int[] Dijkstra(GameObject srcObj) 

2. Change the returning value:

return previous; 

3. Remove the lines from step 4 of the How to do it section:

if (ReferenceEquals(node.vertex, dst)) 
{ 
    return BuildPath(src.id, node.vertex.id, ref previous); 
}

Also, delete the following line at the beginning:

Vertex dst = GetNearestVertex(dstObj.transform.position); ...