// Creates the connections for our grid
void CreateConnections()
{
int nodeCounter = 0;
for (int i = 0; i < nodes.Count; i++)
{
A_R_Node tmp = FindNode(new Vector3(nodes[i].position.x, nodes[i].position.y, nodes[i].position.z - 1));
if (tmp != null)
{
nodes[i].connections.Add(tmp);
}
tmp = FindNode(new Vector3(nodes[i].position.x, nodes[i].position.y, nodes[i].position.z + 1));
if (tmp != null)
{
nodes[i].connections.Add(tmp);
}
tmp = FindNode(new Vector3(nodes[i].position.x - 1, nodes[i].position.y, nodes[i].position.z));
if (tmp != null)
{
nodes[i].connections.Add(tmp);
}
tmp = FindNode(new Vector3(nodes[i].position.x + 1, nodes[i].position.y, nodes[i].position.z));
if (tmp != null)
{
nodes[i].connections.Add(tmp);
}
nodeCounter++;
}
}
void SortNodes(List <A_R_Node> items)
{
if (items.Count > 0)
{
bool isSorted = false;
int lUnsorted = items.Count;
while (!isSorted)
{
isSorted = true;
for (int i = 0; i < lUnsorted; i++)
{
if (i + 1 < items.Count)
{
items[i].CalF();
if (items[i + 1].f < items[i].f)
{
A_R_Node tmp = items[i + 1];
items[i + 1] = items[i];
items[i] = tmp;
}
}
}
lUnsorted--;
}
}
}
// Will assign the values in the grid
void AssignValues()
{
Collider[] colliders;
endNode = null;
startNode = null;
for (int i = 0; i < nodes.Count; i++)
{
colliders = Physics.OverlapBox(nodes[i].position, boxSize / 2);
nodes[i].g = baseValue;
nodes[i].ignore = false;
nodes[i].pastNode = null;
for (int j = 0; j < colliders.Length; j++)
{
for (int k = 0; k < tags.Count; k++)
{
if (colliders[j].gameObject.CompareTag(tags[k]))
{
nodes[i].g = avoidValue;
nodes[i].ignore = true;
}
}
}
}
startNode = GetNearestNode(transform.position);
endNode = GetNearestNode(target.transform.position);
transform.position = startNode.position;
target.transform.position = endNode.position;
endNode.g = endValue;
startNode.g = startValue;
for (int i = 0; i < nodes.Count; i++)
{
nodes[i].h = (nodes[i].position.x + endNode.position.x) + (nodes[i].position.z + endNode.position.z);
}
}
bool isOpen(A_R_Node value)
{
for (int i = 0; i < open.Count; i++)
{
if (open[i] == value)
{
return(true);
}
}
return(false);
}
bool isClosesd(A_R_Node value)
{
for (int i = 0; i < closed.Count; i++)
{
if (closed[i] == value)
{
return(true);
}
}
return(false);
}
void FindPath()
{
closed.Clear();
open.Clear();
path.Clear();
AssignValues();
if (!startNode.ignore && !endNode.ignore)
{
CalNodes();
A_R_Node currentNode = endNode;
while (currentNode != null)
{
path.Add(currentNode);
currentNode = currentNode.pastNode;
}
}
}
// gets the nearest node towards the player position
A_R_Node GetNearestNode(Vector3 position)
{
A_R_Node node = null;
float dst = 0;
if (nodes.Count > 0)
{
dst = Vector3.Distance(position, nodes[0].position);
node = nodes[0];
}
for (int i = 0; i < nodes.Count; i++)
{
if (Vector3.Distance(position, nodes[i].position) < dst)
{
node = nodes[i];
dst = Vector3.Distance(position, nodes[i].position);
}
}
return(node);
}
// Calculate all the nodes
void CalNodes()
{
A_R_Node currentNode = startNode;
bool found = false;
while (!found)
{
if (!isClosesd(currentNode))
{
closed.Add(currentNode);
}
for (int i = 0; i < currentNode.connections.Count; i++)
{
if (!isOpen(currentNode.connections[i]) && !isClosesd(currentNode.connections[i]))
{
if (!currentNode.connections[i].ignore)
{
currentNode.connections[i].g += currentNode.g;
if (currentNode.connections[i].pastNode == null)
{
currentNode.connections[i].pastNode = currentNode;
}
open.Add(currentNode.connections[i]);
}
}
}
SortNodes(open);
if (open.Count > 0)
{
currentNode = open[0];
open.Remove(currentNode);
}
if (currentNode == endNode)
{
found = true;
}
}
}
