public void DrawOverlayGraph(int level)
{
for (var i = 0; i < overlayVerticesCellMapping[level].Length; i++)
{
for (var j = 0; j < overlayVerticesCellMapping[level][i].Count; j++)
{
var overlayVertex = overlayVertices[overlayVerticesCellMapping[level][i][j]];
var vertex = vertices[overlayVertex.OriginalVertex];
var x = vertex.GridPosition / sizeY;
var y = vertex.GridPosition % sizeY;
DebugDrawer.DrawCube(new UnityEngine.Vector2Int(x, y), Vector2Int.one, Color.red);
for (var n = 0; n < overlayVertex.OverlayEdges[level - 1].Count; n++)
{
var target = overlayVertex.OverlayEdges[level - 1][n].NeighborOverlayVertex;
if (target == -1)
{
continue;
}
var tx = vertices[overlayVertices[target].OriginalVertex].GridPosition / sizeY;
var ty = vertices[overlayVertices[target].OriginalVertex].GridPosition % sizeY;
DebugDrawer.Draw(new Vector2Int(x, y), new Vector2Int(tx, ty), new Color(1, 1, 1));
}
}
}
}
public void DrawGraph()
{
for (var i = 0; i < vertices.Length; i++)
{
var vertex = vertices[i];
var x = vertex.GridPosition / sizeY;
var y = vertex.GridPosition % sizeY;
DebugDrawer.DrawCube(new UnityEngine.Vector2Int(x, y), Vector2Int.one, Color.yellow);
var edgeEnd = (i + 1 == vertices.Length) ? edges.Length : vertices[i + 1].EdgeOffset;
if (edgeEnd == -1)
{
continue;
}
for (var j = vertex.EdgeOffset; j < edgeEnd; j++)
{
var edge = edges[j];
var target = edge.ToVertex;
if (target == -1)
{
var tx = edge.ToVertexGridPosition / sizeY;
var ty = edge.ToVertexGridPosition % sizeY;
DebugDrawer.Draw(new Vector2Int(x, y), new Vector2Int(tx, ty), Color.yellow);
}
else
{
var tx = vertices[target].GridPosition / sizeY;
var ty = vertices[target].GridPosition % sizeY;
DebugDrawer.Draw(new Vector2Int(x, y), new Vector2Int(tx, ty), Color.yellow);
}
}
}
}
private bool CalculateShortestPath()
{
Node currentNode;
Position[] neighbors = new Position[8];
heap.Add(startNode, 0);
while (heap.Count > 0)
{
currentNode = heap.Remove();
if (currentNode == targetNode)
{
return(true);
}
currentNode.setClosed();
var count = GetNeighbors(currentNode, ref neighbors);
for (var i = 0; i < count; i++)
{
var neighbor = neighbors[i];
var neighborNode = GetNeighborNode(currentNode, neighbor);
if (neighborNode == null || neighborNode.isClosed())
{
continue;
}
int newGCost = NewGCost(currentNode, neighborNode);
if (newGCost < neighborNode.gCost || !neighborNode.isOpen())
{
#if DEBUG_PATHFINDING
if (showDebug)
{
DebugDrawer.Draw(new Vector2Int(currentNode.x, currentNode.y), new Vector2Int(neighborNode.x, neighborNode.y), Color.white);
DebugDrawer.DrawCube(new Vector2Int(neighborNode.x, neighborNode.y), Vector2Int.one, Color.white);
}
#endif
neighborNode.gCost = newGCost;
neighborNode.hCost = Heuristic(neighborNode, targetNode);
neighborNode.parent = currentNode;
if (!neighborNode.isOpen())
{
heap.Add(neighborNode, neighborNode.gCost + neighborNode.hCost);
neighborNode.setOpen();
}
else
{
heap.Update(neighborNode, neighborNode.gCost + neighborNode.hCost);
}
}
}
}
return(false);
}
public void DrawSubGoals()
{
foreach (var subgoal in subGoals.Values)
{
DebugDrawer.DrawCube(new UnityEngine.Vector2Int(subgoal.x, subgoal.y), Vector2Int.one, Color.yellow);
foreach (var edge in subgoal.edges)
{
DebugDrawer.Draw(new Vector2Int(subgoal.x, subgoal.y), new Vector2Int(edge.toX, edge.toY), Color.yellow);
}
}
}
public override void Draw(GameTime gameTime)
{
if (ActiveScene != null && CameraManager.ActiveCamera != null)
{
ActiveScene.Draw(CameraManager.ActiveCamera);
ActiveScene.DrawUI();
debug.Draw(CameraManager.ActiveCamera);
}
base.Draw(gameTime);
}
private void drawEdgesVertex(int vertexID, int chunkID)
{
var targetNeighborChunk = graph.GetChunk(chunkID);
var targetVertex = targetNeighborChunk.vertices[vertexID];
var(tx, ty) = fromGridPosition(targetVertex.GridPosition);
for (var k = targetVertex.EdgeOffset; k < targetNeighborChunk.vertices[vertexID + 1].EdgeOffset; k++)
{
var edge = targetNeighborChunk.edges[k];
var edgeTarget = edge.ToVertex;
var(hx, hy) = fromGridPosition(edgeTarget == -1 ? edge.ToVertexGridPosition : targetNeighborChunk.vertices[edgeTarget].GridPosition);
DebugDrawer.Draw(new Vector2Int(tx, ty), new Vector2Int(hx, hy), Color.white);
}
}
private void updateForwardFrontier(Node node, float nodeScore)
{
#if DEBUG_PATHFINDING
if (showDebug)
{
DebugDrawer.Draw(new Vector2Int(node.parentA.x, node.parentA.y), new Vector2Int(node.x, node.y), Color.white);
DebugDrawer.DrawCube(new Vector2Int(node.x, node.y), Vector2Int.one, Color.white);
}
#endif
if (node.isClosedB())
{
var pathLength = node.costB + nodeScore;
if (bestPathLength > pathLength)
{
bestPathLength = pathLength;
middleNode = node;
}
}
}
public void FindPath(bool astar)
{
DebugDrawer.Clear();
// Convert visible grid to memory grid
var grid = GridController.Ground;
var pathGrid = GridController.Path;
var sizeX = GridController.active.size.x;
var sizeY = GridController.active.size.y;
var memoryGrid = createGraph();
// Set grid weights
var start = new Vector2Int(-1, -1);
var end = new Vector2Int(-1, -1);
for (var x = 0; x < sizeX; x++)
{
for (var y = 0; y < sizeY; y++)
{
var pathTile = pathGrid.GetTile(new Vector3Int(x, y, 0));
if (pathTile != null)
{
if (pathTile == GridController.active.start)
{
start = new Vector2Int(x, y);
}
else if (pathTile == GridController.active.end)
{
end = new Vector2Int(x, y);
}
}
}
}
if (start.x == -1 || end.x == -1)
{
Debug.Log("Couldn't find any start or end position");
return;
}
List <Node> path;
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
if (astar)
{
var asearch = new AStarSearch();
sw.Start();
path = asearch.GetPath(memoryGrid, start, end);
UnityEngine.Debug.Log("A* Path - Path" + (path == null ? " not " : " ") + "found in : " + sw.ElapsedMilliseconds + " ms");
}
else
{
var jpsearch = new JumpPointSearch();
sw.Start();
path = jpsearch.GetPath(memoryGrid, start, end);
UnityEngine.Debug.Log("JPS Path - Path" + (path == null ? " not " : " ") + "found in : " + sw.ElapsedMilliseconds + " ms");
}
if (path != null)
{
foreach (var pathTile in path)
{
if (pathTile.x == start.x && pathTile.y == start.y)
{
continue;
}
if (pathTile.x == end.x && pathTile.y == end.y)
{
continue;
}
if (pathTile.parent != null)
{
DebugDrawer.Draw(new Vector2Int(pathTile.parent.x, pathTile.parent.y), new Vector2Int(pathTile.x, pathTile.y), Color.blue);
}
DebugDrawer.DrawCube(new Vector2Int(pathTile.x, pathTile.y), Vector2Int.one, Color.blue);
}
}
}
public void FindSubGoalPath()
{
DebugDrawer.Clear();
// Convert visible grid to memory grid
var grid = GridController.Ground;
var pathGrid = GridController.Path;
var sizeX = GridController.active.size.x;
var sizeY = GridController.active.size.y;
var memoryGrid = createGraph();
// Set grid weights
var start = new Vector2Int(-1, -1);
var end = new Vector2Int(-1, -1);
for (var x = 0; x < sizeX; x++)
{
for (var y = 0; y < sizeY; y++)
{
var pathTile = pathGrid.GetTile(new Vector3Int(x, y, 0));
if (pathTile != null)
{
if (pathTile == GridController.active.start)
{
start = new Vector2Int(x, y);
}
else if (pathTile == GridController.active.end)
{
end = new Vector2Int(x, y);
}
}
}
}
if (start.x == -1 || end.x == -1)
{
Debug.Log("Couldn't find any start or end position");
return;
}
// List<Node> path;
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
SubGoalGrid sgg = new SubGoalGrid(memoryGrid);
sgg.ConstructSubgoals(0, 0, sizeX, sizeY);
sgg.ConstructEdges(0, 0, sizeX, sizeY);
Debug.Log(sgg.subGoals.Count);
sw.Stop();
Debug.Log("Preprocessing took " + sw.ElapsedMilliseconds + "ms");
sgg.DrawSubGoals();
List <Node> path;
var subGoalSearch = new SubGoalAStarSearch(sgg);
sw.Restart();
path = subGoalSearch.GetPath(sgg, start, end);
UnityEngine.Debug.Log("SubGoalSearch Path - Path" + (path == null ? " not " : " ") + "found in : " + sw.ElapsedMilliseconds + " ms");
if (path != null)
{
foreach (var pathTile in path)
{
if (pathTile.x == start.x && pathTile.y == start.y)
{
continue;
}
if (pathTile.x == end.x && pathTile.y == end.y)
{
continue;
}
if (pathTile.parent != null)
{
DebugDrawer.Draw(new Vector2Int(pathTile.parent.x, pathTile.parent.y), new Vector2Int(pathTile.x, pathTile.y), Color.blue);
}
DebugDrawer.DrawCube(new Vector2Int(pathTile.x, pathTile.y), Vector2Int.one, Color.blue);
}
}
}
