public void FindPath(Vector3 a_StartPos, Vector3 a_TargetPos)
{
Node StartNode = GridReference.NodeFromWorldPoint(a_StartPos); //Gets the node closest to the starting position
Node TargetNode = GridReference.NodeFromWorldPoint(a_TargetPos); //Gets the node closest to the target position
List <Node> OpenList = new List <Node>(); //List of nodes for the open list
HashSet <Node> ClosedList = new HashSet <Node>(); //Hashset of nodes for the closed list
OpenList.Add(StartNode); //Add the starting node to the open list to begin the program
while (OpenList.Count > 0) //Whilst there is something in the open list
{
Node CurrentNode = OpenList[0]; //Create a node and set it to the first item in the open list
for (int i = 1; i < OpenList.Count; i++) //Loop through the open list starting from the second object
{
if (OpenList[i].FCost < CurrentNode.FCost || OpenList[i].FCost == CurrentNode.FCost && OpenList[i].ihCost < CurrentNode.ihCost) //If the f cost of that object is less than or equal to the f cost of the current node
{
CurrentNode = OpenList[i]; //Set the current node to that object
}
}
OpenList.Remove(CurrentNode); //Remove that from the open list
ClosedList.Add(CurrentNode); //And add it to the closed list
if (CurrentNode == TargetNode) //If the current node is the same as the target node
{
PathToWalk = GetFinalPath(StartNode, TargetNode); //Calculate the final path
}
foreach (Node NeighborNode in GridReference.GetNeighboringNodes(CurrentNode)) //Loop through each neighbor of the current node
{
if (!NeighborNode.isWalkable || ClosedList.Contains(NeighborNode)) //If the neighbor is a wall or has already been checked
{
continue; //Skip it
}
if (NeighborNode.isMud)
{
CurrentNode.igCost += GridWorld.instance.mudCost;
}
if (NeighborNode.isGravel)
{
CurrentNode.igCost += GridWorld.instance.gravelCost;
}
int MoveCost = CurrentNode.igCost + GetManhattanDistance(CurrentNode, NeighborNode); //Get the F cost of that neighbor
if (MoveCost < NeighborNode.igCost || !OpenList.Contains(NeighborNode)) //If the f cost is greater than the g cost or it is not in the open list
{
NeighborNode.igCost = MoveCost; //Set the g cost to the f cost
NeighborNode.ihCost = GetManhattanDistance(NeighborNode, TargetNode); //Set the h cost
NeighborNode.ParentNode = CurrentNode; //Set the parent of the node for retracing steps
if (!OpenList.Contains(NeighborNode)) //If the neighbor is not in the openlist
{
OpenList.Add(NeighborNode); //Add it to the list
}
}
}
}
}
private void Start()
{
TargetNode = GridReference.NodeFromWorldPoint(transform.position);
print("Player X = " + TargetNode.iGridX + "and Y = " + TargetNode.iGridY);
TargetNode = GridReference.NodeFromGridPos(TargetNode.iGridX + 1, TargetNode.iGridY);
TargetNode.isDiscovered = true;
}
// Update is called once per frame
void Update()
{
TargetNode = GridReference.NodeFromWorldPoint(transform.position);
TargetNode = GridReference.NodeFromGridPos(TargetNode.iGridX, TargetNode.iGridY);
TargetNode.isDiscovered = true;
Left = GridReference.NodeFromGridPos(TargetNode.iGridX - 1, TargetNode.iGridY);
Bottom = GridReference.NodeFromGridPos(TargetNode.iGridX, TargetNode.iGridY - 1);
Up = GridReference.NodeFromGridPos(TargetNode.iGridX, TargetNode.iGridY + 1);
Right = GridReference.NodeFromGridPos(TargetNode.iGridX + 1, TargetNode.iGridY);
if ((!Left.isWalkable) || (!Up.isWalkable) || (!Right.isWalkable) || (!Bottom.isWalkable))
{
tiempo += Time.deltaTime;
}
tiempo += Time.deltaTime;
if (transform.localPosition.x > xMax)
{
x = Random.Range(-velocidadMax, 0.0f);
angulo = Mathf.Atan2(x, z) * (180 / 3.141592f) + 90;
transform.localRotation = Quaternion.Euler(0, angulo, 0);
tiempo = 0.0f;
}
if (transform.localPosition.x < xMin)
{
x = Random.Range(0.0f, velocidadMax);
angulo = Mathf.Atan2(x, z) * (180 / 3.141592f) + 90;
transform.localRotation = Quaternion.Euler(0, angulo, 0);
tiempo = 0.0f;
}
if (transform.localPosition.z > zMax)
{
z = Random.Range(-velocidadMax, 0.0f);
angulo = Mathf.Atan2(x, z) * (180 / 3.141592f) + 90;
transform.localRotation = Quaternion.Euler(0, angulo, 0);
tiempo = 0.0f;
}
if (transform.localPosition.z < zMin)
{
z = Random.Range(0.0f, velocidadMax);
angulo = Mathf.Atan2(x, z) * (180 / 3.141592f) + 90;
transform.localRotation = Quaternion.Euler(0, angulo, 0);
tiempo = 0.0f;
}
if (tiempo > 1.0f)
{
x = Random.Range(-velocidadMax, velocidadMax);
z = Random.Range(-velocidadMax, velocidadMax);
angulo = Mathf.Atan2(x, z) * (180 / 3.141592f) + 90;
transform.localRotation = Quaternion.Euler(0, angulo, 0);
tiempo = 0.0f;
}
transform.localPosition = new Vector3(transform.localPosition.x + x, transform.localPosition.y, transform.localPosition.z + z);
}
