public ParamBase(BaseGrid iGrid, HeuristicMode iMode)
{
SetHeuristic(iMode);
m_searchGrid = iGrid;
m_startNode = null;
m_endNode = null;
}
public JumpPointParam(BaseGrid iGrid, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint=true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
m_heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
m_heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new List<Node>();
m_searchGrid = iGrid;
m_startNode = null;
m_endNode = null;
m_useRecursive = false;
}
public JumpPointParam(BaseGrid iGrid, bool iCrossCorner = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
crossCorner = iCrossCorner;
openList = new List<Node>();
searchGrid = iGrid;
startNode = null;
endNode = null;
}
/// <summary>
/// Returns the predicted distance from start to end based on the given heuristic mode.
/// </summary>
/// <param name="start">Start position.</param>
/// <param name="end">End position.</param>
/// <param name="mode">Heuristic mode.</param>
public static float GetHeuristic(Vector3 start, Vector3 end, HeuristicMode mode)
{
if (mode == HeuristicMode.euclidian)
{
return(Vector3.Distance(start, end));
}
if (mode == HeuristicMode.manhattan)
{
return((Mathf.Abs(end.x - start.x) + Mathf.Abs(end.y - start.y) + Mathf.Abs(end.z - start.z)));
}
if (mode == HeuristicMode.hexagonal)
{
#if HEXAGONAL
return((Mathf.Abs(Vector3.Dot(end - start, Hexagonal.HexGrid.cornerUpRight)) * Vector3.Distance(end, start) +
Mathf.Abs(Vector3.Dot(end - start, Hexagonal.HexGrid.cornerDownRight)) * Vector3.Distance(end, start) +
Mathf.Abs(Vector3.Dot(end - start, Hexagonal.HexGrid.cornerLeft)) * Vector3.Distance(end, start)) / 2f);
#else
Debug.LogError("JBirdAI: Trying to use hexagonal heuristic, but HEXAGONAL is not defined in the JBirdAI script.");
return(0f);
#endif
}
else
{
Debug.LogError("JBirdEngine.AIHelper: Attempting to use unimplemented Heuristic Mode!");
return(0f);
}
}
protected override void Reset () {
base.Reset();
pathsForAll = true;
chosenTarget = -1;
sequentialTarget = 0;
inverted = true;
heuristicMode = HeuristicMode.Sequential;
}
public JumpPointParam(BaseGrid iGrid, bool iAllowEndNodeUnWalkable = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iMode)
{
CurEndNodeUnWalkableTreatment = iAllowEndNodeUnWalkable ? EndNodeUnWalkableTreatment.ALLOW : EndNodeUnWalkableTreatment.DISALLOW;
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.LOOP;
}
protected ParamBase(BaseGrid iGrid, DiagonalMovement iDiagonalMovement, HeuristicMode iMode)
{
SetHeuristic(iMode);
MsearchGrid = iGrid;
DiagonalMovement = iDiagonalMovement;
MstartNode = null;
MendNode = null;
}
protected ParamBase(BaseGrid grid, DiagonalMovement diagonalMovement, HeuristicMode mode)
{
SetHeuristic(mode);
searchGrid = grid;
DiagonalMovement = diagonalMovement;
startNode = null;
endNode = null;
}
public ParamBase(BaseGrid iGrid, DiagonalMovement iDiagonalMovement, HeuristicMode iMode)
{
SetHeuristic(iMode);
m_searchGrid = iGrid;
DiagonalMovement = iDiagonalMovement;
m_startNode = null;
m_endNode = null;
}
// Force Directed movement
public static List <Tuple2 <Tuple3 <int> > > ForceDirected(Maze m, HeuristicMode hm)
{
// Number each block in the current state and map it in the bool[, ,]
Block[, ,] originalMap = m.GetBlockMaze();
Dictionary <int, Tuple3 <int> > currentBlockMap = new Dictionary <int, Tuple3 <int> > ();
bool[, ,] currentMap = new bool[originalMap.GetLength(0), originalMap.GetLength(1), originalMap.GetLength(2)];
int currentNumber = 0;
for (int i = 0; i < originalMap.GetLength(0); ++i)
{
for (int j = 0; j < originalMap.GetLength(1); ++j)
{
for (int k = 0; k < originalMap.GetLength(2); ++k)
{
if (originalMap [i, j, k] != null)
{
currentBlockMap.Add(currentNumber++, new Tuple3 <int> (i, j, k));
}
else
{
currentMap [i, j, k] = true;
}
}
}
}
// Number each block in the target state
bool[, ,] targetMap = m.GetBlockMap();
Dictionary <int, Tuple3 <int> > targetBlockMap = new Dictionary <int, Tuple3 <int> > ();
int targetNumber = 0;
for (int i = 0; i < targetMap.GetLength(0); ++i)
{
for (int j = 0; j < targetMap.GetLength(1); ++j)
{
for (int k = 0; k < targetMap.GetLength(2); ++k)
{
if (!targetMap [i, j, k])
{
targetBlockMap.Add(targetNumber++, new Tuple3 <int>(i, j, k));
}
}
}
}
List <Tuple2 <Tuple3 <int> > > moves = new List <Tuple2 <Tuple3 <int> > >();
for (int i = 0; i < currentBlockMap.Count; ++i)
{
moves.Add(new Tuple2 <Tuple3 <int> > (currentBlockMap [i], targetBlockMap [i]));
}
return(moves);
}
public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, bool iAllowEndNodeUnWalkable = true,
bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: this(iGrid, iAllowEndNodeUnWalkable, iCrossCorner, iCrossAdjacentPoint, iMode)
{
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
if (m_endNode == null)
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
public ParamBase(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, HeuristicMode iMode) : this(iGrid, iMode)
{
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
{
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
}
if (m_endNode == null)
{
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
}
public JumpPointParam(BaseGrid iGrid, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint=true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
SetHeuristic(iMode);
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new List<Node>();
m_searchGrid = iGrid;
m_startNode = null;
m_endNode = null;
m_useRecursive = false;
}
public JumpPointParam(
IBaseGrid iGrid,
GridPos iStartPos,
GridPos iEndPos,
bool iAllowEndNodeUnWalkable = true,
bool iCrossCorner = true,
bool iCrossAdjacentPoint = true,
HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
this.m_heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
this.m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
this.m_heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
this.m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
this.m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
this.m_crossAdjacentPoint = iCrossAdjacentPoint;
this.m_crossCorner = iCrossCorner;
this.openList = new List<Node>();
this.m_searchGrid = iGrid;
this.m_startNode = this.m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
this.m_endNode = this.m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (this.m_startNode == null)
{
this.m_startNode = new Node(iStartPos.x, iStartPos.y, true);
}
if (this.m_endNode == null)
{
this.m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
this.m_useRecursive = false;
}
public void SetHeuristic(HeuristicMode iMode)
{
m_heuristic = null;
switch (iMode)
{
case HeuristicMode.MANHATTAN:
m_heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
m_heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
}
public void SetHeuristic(HeuristicMode iMode)
{
MHeuristic = null;
switch (iMode)
{
case HeuristicMode.Manhattan:
MHeuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.Euclidean:
MHeuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.Chebyshev:
MHeuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
MHeuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
}
public void SetHeuristic(HeuristicMode iMode)
{
Mheuristic = null;
switch (iMode)
{
case HeuristicMode.Manhattan:
Mheuristic = Heuristic.Manhattan;
break;
case HeuristicMode.Euclidean:
Mheuristic = Heuristic.Euclidean;
break;
case HeuristicMode.Chebyshev:
Mheuristic = Heuristic.Chebyshev;
break;
default:
Mheuristic = Heuristic.Euclidean;
break;
}
}
public JumpPointParam(BaseGrid iGrid, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iMode)
{
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new IntervalHeap <Node>();
m_useRecursive = false;
}
public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, EndNodeUnWalkableTreatment iAllowEndNodeUnWalkable = EndNodeUnWalkableTreatment.Allow, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.Euclidean)
: base(iGrid, iStartPos, iEndPos, iDiagonalMovement, iMode)
{
CurEndNodeUnWalkableTreatment = iAllowEndNodeUnWalkable;
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.Loop;
}
public void SetHeuristic(HeuristicMode mode)
=> heuristic = mode switch
{
protected ParamBase(BaseGrid grid, GridPos startPos, GridPos endPos, DiagonalMovement diagonalMovement, HeuristicMode mode) : this(grid, diagonalMovement, mode)
{
startNode = searchGrid.GetNodeAt(startPos.X, startPos.Y);
endNode = searchGrid.GetNodeAt(endPos.X, endPos.Y);
if (startNode == null)
{
startNode = new Node(startPos.X, startPos.Y, true);
}
if (endNode == null)
{
endNode = new Node(endPos.X, endPos.Y, true);
}
}
public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, EndNodeUnWalkableTreatment iAllowEndNodeUnWalkable = EndNodeUnWalkableTreatment.ALLOW, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iStartPos, iEndPos, iMode)
{
CurEndNodeUnWalkableTreatment = iAllowEndNodeUnWalkable;
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.LOOP;
}
public JumpPointParam(BaseGrid grid, EndNodeUnWalkableTreatment allowEndNodeUnWalkable = EndNodeUnWalkableTreatment.Allow, DiagonalMovement diagonalMovement = DiagonalMovement.Always, HeuristicMode mode = HeuristicMode.Euclidean)
: base(grid, diagonalMovement, mode)
{
CurEndNodeUnWalkableTreatment = allowEndNodeUnWalkable;
OpenList = new IntervalHeap <Node>();
CurIterationType = IterationType.Loop;
}
public void SetHeuristic(HeuristicMode iMode)
{
heuristic = null;
switch (iMode)
{
case HeuristicMode.MANHATTAN:
heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
}
public void SetHeuristic(HeuristicMode iMode)
{
m_heuristic = null;
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
}
public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, bool iAllowEndNodeUnWalkable = true,
bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: this(iGrid, iAllowEndNodeUnWalkable, iCrossCorner, iCrossAdjacentPoint, iMode)
{
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
{
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
}
if (m_endNode == null)
{
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
}
public AStarParam(BaseGrid iGrid, float iweight, DiagonalMovement iDiagonalMovement = DiagonalMovement.IfAtLeastOneWalkable, HeuristicMode iMode = HeuristicMode.Euclidean)
: base(iGrid, iDiagonalMovement, iMode)
{
Weight = iweight;
}
public JumpPointParam(BaseGrid iGrid, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
m_heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
m_heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new List <Node>();
m_searchGrid = iGrid;
m_startNode = null;
m_endNode = null;
m_useRecursive = false;
}
public JumpPointParam(BaseGrid iGrid, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
SetHeuristic(iMode);
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new List <Node>();
m_searchGrid = iGrid;
m_startNode = null;
m_endNode = null;
m_useRecursive = false;
}
public AStarParam(BaseGrid iGrid, float iweight, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iDiagonalMovement, iMode)
{
Weight = iweight;
}
public AStarParam(BaseGrid grid, GridPos startPos, GridPos endPos, float weight, DiagonalMovement diagonalMovement = DiagonalMovement.Always, HeuristicMode mode = HeuristicMode.Euclidean) : base(grid, startPos, endPos, diagonalMovement, mode) => Weight = weight;
protected ParamBase(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, DiagonalMovement iDiagonalMovement, HeuristicMode iMode) : this(iGrid, iDiagonalMovement, iMode)
{
MstartNode = MsearchGrid.GetNodeAt(iStartPos.X, iStartPos.Y);
MendNode = MsearchGrid.GetNodeAt(iEndPos.X, iEndPos.Y);
if (MstartNode == null)
{
MstartNode = new Node(iStartPos.X, iStartPos.Y, true);
}
if (MendNode == null)
{
MendNode = new Node(iEndPos.X, iEndPos.Y, true);
}
}
public JumpPointParam(BaseGrid iGrid, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iDiagonalMovement, iMode)
{
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.LOOP;
}
public AStarParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, float iweight, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.Euclidean)
: base(iGrid,iStartPos,iEndPos, iDiagonalMovement,iMode)
{
Weight = iweight;
}
public AStarParam(BaseGrid iGrid, float iweight, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iMode)
{
Weight = iweight;
}
protected ParamBase(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, DiagonalMovement iDiagonalMovement, HeuristicMode iMode) : this(iGrid, iDiagonalMovement, iMode)
{
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
{
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
}
if (m_endNode == null)
{
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
}