/// <summary>
/// <para>Checks if the target is accesible from the origin position in a single movement (in eight directions)</para>
/// <para>If is a diagonal movement, checks the accessibility of the left and right positions.</para>
/// </summary>
/// <param name="origin">Original position.</param>
/// <param name="target">Objective position.</param>
/// <param name="isPositionAccessible">Method to check if a position is accessible.</param>
/// <returns>If the objective is accesible from the origin position in a single movement.</returns>
public static bool IsTouchingTarget(Vector2Int origin, Vector2Int target, IsPositionAccessible isPositionAccessible)
{
bool isTouching = false;
if (origin.Equals(target))
{
isTouching = true;
}
else
{
Vector2Int offset = target - origin;
if (Mathf.Abs(offset.x) <= 1 && Mathf.Abs(offset.y) <= 1)
{
isTouching = true;
// If is a diagonal
if (offset.x != 0 && offset.y != 0)
{
isTouching = isPositionAccessible(origin + Vector2Int.right * offset.x) &&
isPositionAccessible(origin + Vector2Int.up * offset.y);
}
}
}
return(isTouching);
}
/// <summary>
/// Checks if the target is accessible by at least one of the surrounding positions ( in eight directions ).
/// </summary>
/// <param name="target">Objective position.</param>
/// <param name="isPositionAccessible">Method to check if a position is accessible.</param>
/// <returns>True only if the objective can be accesed by at least one surrounding position.</returns>
public static bool IsTargetAccessible(Vector2Int target, IsPositionAccessible isPositionAccessible)
{
bool isAccessible = false;
// For all directions, while a acces to the target isn't found
for (int i = 0; i < EightDirections2D.Count && !isAccessible; i++)
{
isAccessible = IsTouchingTarget(target + EightDirections2D[i], target, isPositionAccessible);
}
return(isAccessible);
}
/// <summary>
/// <para>Checks if a movement from a origin with a specific direction (in some of the eight directions) is possible.</para>
/// <para>To check it the method observe the adjacents positions, avoiding a movement that go throught an inaccesible positions.</para>
/// </summary>
/// <param name="origin">Original position.</param>
/// <param name="direction">Direction of the movement.</param>
/// <param name="isPositionAccessible">Method to check if a position is accessible.</param>
/// <returns>If is a possible direction.</returns>
public static bool IsPossibleDirection(Vector2Int origin, Vector2Int direction, IsPositionAccessible isPositionAccessible)
{
bool possible = true;
direction = direction.TransformToDirection();
Vector2Int[] movementComponents =
{
origin + Vector2Int.right * direction.x,
origin + Vector2Int.up * direction.y,
origin + direction
};
for (int i = 0; i < movementComponents.Length && possible; i++)
{
if (!movementComponents[i].Equals(origin))
{
possible &= isPositionAccessible(movementComponents[i]);
}
}
return(possible);
}
/// <summary>
/// <para>Calculates a pseudo-random direction based on lastDirection and a random value.</para>
/// <para>If the random value is greater than sameDirectionProbability it will compute a diferent direction.</para>
/// <para>For that, it will test alternate directions trying to minimize the turn from the lastDirection.</para>
/// <para>If no direction is possible, returns Vector2Int.zero.</para>
/// </summary>
/// <param name="origin">Original position.</param>
/// <param name="lastDirection">Last direction. Must be a normalized vector.</param>
/// <param name="randGenerator">Random generator for the direction.</param>
/// <param name="sameDirectionProbability">Probability of conserve the lastDirection.</param>
/// <param name="isPositionAccessible">>Method to check if a position is accessible.</param>
/// <returns>The new direction or, if no one is possible, Vector2Int.zero.</returns>
public static Vector2Int PseudorandomDirection(Vector2Int origin, Vector2Int lastDirection, System.Random randGenerator, float sameDirectionProbability, IsPositionAccessible isPositionAccessible)
{
Vector2Int nextDirection = Vector2Int.zero;
lastDirection = lastDirection.TransformToDirection();
float sameDirectionProb = Mathf.Clamp(sameDirectionProbability, 0, 100);
bool useSameDirection = RandomDouble(randGenerator, 0, 100) <= sameDirectionProb;
// If is possible continue in the same direction ( not 0,0 )
if (useSameDirection && !lastDirection.Equals(Vector2Int.zero) && IsPossibleDirection(origin, lastDirection, isPositionAccessible))
{
nextDirection = lastDirection;
}
// Search a new random direction different of last
else
{
int lastDirectionIdx = EightDirections2D.IndexOf(lastDirection);
// If any previous direction is possible, assign one random
if (lastDirectionIdx == -1)
{
lastDirectionIdx = randGenerator.Next(0, EightDirections2D.Count);
}
// Check the possible directions incrementing the offset relative to lastDirection
int idx;
bool turnRight;
Vector2Int possibleDirection;
for (int offset = 1; offset < EightDirections2D.Count / 2 && nextDirection == Vector2Int.zero; offset++)
{
turnRight = randGenerator.Next(0, 2) == 0;
idx = LC_Math.Mod(lastDirectionIdx + (turnRight ? offset : -offset), EightDirections2D.Count);
possibleDirection = EightDirections2D[idx];
if (IsPossibleDirection(origin, possibleDirection, isPositionAccessible))
{
nextDirection = possibleDirection;
}
else
{
idx = LC_Math.Mod(lastDirectionIdx + (!turnRight ? offset : -offset), EightDirections2D.Count);
possibleDirection = EightDirections2D[idx];
if (IsPossibleDirection(origin, possibleDirection, isPositionAccessible))
{
nextDirection = possibleDirection;
}
}
}
// If any other direction isn't possible, check the opposite of last direction
if (nextDirection == Vector2Int.zero)
{
possibleDirection = lastDirection * -1;
if (IsPossibleDirection(origin, possibleDirection, isPositionAccessible))
{
nextDirection = possibleDirection;
}
}
}
return(nextDirection);
}
/// <summary>
/// <para>Obtains a path from origin to target reusing the lastPathToTarget if is Possible and Needed.</para>
/// <para>Possible = The path is clear and arrives to target.</para>
/// <para>Needed = The distance to target is greater than half of maxCheckedPositions.</para>
/// <para>Else, uses the Pathfinding method to calculate a new path.</para>
/// </summary>
/// <param name="origin">Start position ( will not be included in result path ).</param>
/// <param name="target">Objective position.</param>
/// <param name="isPositionAccessible">Method to check if a position is accessible.</param>
/// <param name="maxCheckedPositions">Maximum length of the path if it must be recalculated and cannot be direct.</param>
/// <param name="lastPathToTarget">Last path to objective calculated. Checked for reuse.</param>
/// <returns>List of the positions of the best path found. Not includes the origin position.</returns>
public static List <Vector2Int> PathfindingWithReusing(Vector2Int origin, Vector2Int target, IsPositionAccessible isPositionAccessible, int maxCheckedPositions, List <Vector2Int> lastPathToTarget)
{
List <Vector2Int> path;
// If any calculated path or the target is close
if (lastPathToTarget == null || lastPathToTarget.Count == 0 || origin.Distance(target) < maxCheckedPositions / 2)
{
path = Pathfinding(origin, target, isPositionAccessible, maxCheckedPositions);
}
// Is some path previously calculated
else
{
int idx;
bool pathIsClear = true;
bool pathTouchsTarget = false;
int originIdxInPath = -1;
Vector2Int pos;
Vector2Int lastPos = Vector2Int.zero;
Vector2Int dir;
// Check is the path is clear and if some position is already done
for (idx = 0; idx < lastPathToTarget.Count && pathIsClear && !pathTouchsTarget; idx++)
{
pos = lastPathToTarget[idx];
// Check if direction is possible
if (idx != 0)
{
dir = pos - lastPos;
pathIsClear = IsPossibleDirection(lastPos, dir, isPositionAccessible);
}
lastPos = pos;
if (pathIsClear)
{
pathTouchsTarget = IsTouchingTarget(pos, target, isPositionAccessible);
}
// Check if path contains origin in order to adapt output path
if (pos == origin)
{
originIdxInPath = idx;
pathIsClear = idx != lastPathToTarget.Count - 1; // Can't be the last position of the path
}
}
// If the last path can be used
if (pathIsClear && pathTouchsTarget)
{
path = lastPathToTarget.GetRange(originIdxInPath + 1, idx - 1);
}
else
{
path = Pathfinding(origin, target, isPositionAccessible, maxCheckedPositions);
}
}
return(path);
}
/// <summary>
/// <para>A* pathfinding algorithm. Calculates the shortest path from origin to target if exists.</para>
/// <para>If the number of checked positions is greater than maxCheckedPositions or the objective is not accessible, returns a path to the closest position found.</para>
/// </summary>
/// <param name="origin">Start position (will not be included in result path).</param>
/// <param name="target">Objective position.</param>
/// <param name="isPositionAccessible">Method to check if a position is accessible.</param>
/// <param name="maxCheckedPositions">Maximum number of checked positions to reach the objective.</param>
/// <returns>The best path found from origin to target.</returns>
public static List <Vector2Int> AstarPath(Vector2Int origin, Vector2Int target, IsPositionAccessible isPositionAccessible, int maxCheckedPositions)
{
Stopwatch chrono = new Stopwatch();
chrono.Start();
List <Vector2Int> path = new List <Vector2Int>();
Dictionary <Vector2Int, PosInPath> checkedPositions = new Dictionary <Vector2Int, PosInPath>();
PosInPath originPosInPath = new PosInPath(origin, 0, null);
Dictionary <Vector2Int, PosInPath> remainingPositions = new Dictionary <Vector2Int, PosInPath>
{
{ originPosInPath.Pos, originPosInPath }
};
bool targetNotAccessible = false;
bool targetReached = false;
PosInPath auxPosInPath;
PosInPath currentPosInPath = null;
PosInPath closestToObjective = originPosInPath;
float closestDistanceToObjective = closestToObjective.Pos.Distance(target);
PosInPath nextPosInPath;
float distance;
bool isAlreadyInRemaining;
bool hasBetterAccumulatedCost;
// Calcule path
while (!targetReached && !targetNotAccessible)
{
// Select next position
currentPosInPath = null;
foreach (KeyValuePair <Vector2Int, PosInPath> entry in remainingPositions)
{
auxPosInPath = entry.Value;
if (currentPosInPath == null ||
(auxPosInPath.AccumulatedCost + auxPosInPath.Pos.Distance(target)) <
(currentPosInPath.AccumulatedCost + currentPosInPath.Pos.Distance(target)))
{
currentPosInPath = auxPosInPath;
}
}
// Remove from remaining and add to checked
remainingPositions.Remove(currentPosInPath.Pos);
checkedPositions.Add(currentPosInPath.Pos, currentPosInPath);
// Check if already touching target
if (IsTouchingTarget(currentPosInPath.Pos, target, isPositionAccessible))
{
targetReached = true;
}
else
{
// Check around positions
foreach (Vector2Int movement in EightDirections2D)
{
nextPosInPath = new PosInPath(currentPosInPath.Pos + movement,
currentPosInPath.AccumulatedCost + movement.magnitude,
currentPosInPath);
// If the position hasn't been checked previously and is accessible
if (!checkedPositions.ContainsKey(nextPosInPath.Pos) && IsPossibleDirection(currentPosInPath.Pos, movement, isPositionAccessible))
{
isAlreadyInRemaining = remainingPositions.TryGetValue(nextPosInPath.Pos, out auxPosInPath);
hasBetterAccumulatedCost = isAlreadyInRemaining && nextPosInPath.AccumulatedCost < auxPosInPath.AccumulatedCost;
// If has a better accumulated cost than an existing one in remaining, substitute it
if (hasBetterAccumulatedCost)
{
remainingPositions.Remove(auxPosInPath.Pos);
}
// If is a new position or has a better accumulated cost, add to remaining
if (!isAlreadyInRemaining || hasBetterAccumulatedCost)
{
remainingPositions.Add(nextPosInPath.Pos, nextPosInPath);
// Check if is the closest to target
distance = nextPosInPath.Pos.Distance(target);
if (distance <= closestDistanceToObjective)
{
closestToObjective = nextPosInPath;
closestDistanceToObjective = distance;
}
}
}
}
// Check if target isn't accesible
targetNotAccessible = remainingPositions.Count == 0 || checkedPositions.Count >= maxCheckedPositions;
}
}
// If is impossible acces to the target use the closest position as desitiny
if (targetNotAccessible)
{
currentPosInPath = closestToObjective;
}
// If the currentPosition ( best last position found ) is closer to target than the origin is a good path
if (currentPosInPath.Pos.Distance(target) < origin.Distance(target))
{
// Do the reverse path, from the end to the origin position
while (currentPosInPath.Pos != origin)
{
path.Add(currentPosInPath.Pos);
currentPosInPath = currentPosInPath.OriginPos;
}
path.Reverse();
UpdateAstarStatistics(chrono.ElapsedMilliseconds, path.Count, checkedPositions.Count);
}
chrono.Stop();
return(path);
}
/// <summary>
/// <para>Calculates the direct path (straight or diagonal line) if is possible or return a incomplete path.</para>
/// </summary>
/// <param name="origin">Start position (will not be included in result path).</param>
/// <param name="objective">Objective position.</param>
/// <param name="isPositionAccessible">Method to check if a position is accessible.</param>
/// <returns>A direct path to objective if is possible, or an incomplete path instead.</returns>
public static List <Vector2Int> DirectPath(Vector2Int origin, Vector2Int objective, IsPositionAccessible isPositionAccessible)
{
List <Vector2Int> path = new List <Vector2Int>();
if (!IsTargetAccessible(objective, isPositionAccessible))
{
Vector2Int position = origin;
Vector2Int movement = new Vector2Int();
bool targetNotAccessible = false;
while (!position.Equals(objective) && !targetNotAccessible)
{
movement.x = -Mathf.Clamp(position.x.CompareTo(objective.x), -1, 1);
movement.y = -Mathf.Clamp(position.y.CompareTo(objective.y), -1, 1);
if (IsPossibleDirection(position, movement, isPositionAccessible))
{
position += movement;
path.Add(position);
}
else
{
targetNotAccessible = true;
}
}
}
return(path);
}
/// <summary>
/// <para>Tries to get a path from the origin to the target.</para>
/// <para>First will search a direct path to target and, if it is not possible, will use the A* algorithm.</para>
/// <para>If the path to target is impossible, returns a path to the position closest to the objective.</para>
/// <para>Start position will not be included in result path.</para>
/// <para>maxPathLenght will be used only if a direct path to target cannot be found.</para>
/// </summary>
/// <param name="origin">Start position (will not be included in result path).</param>
/// <param name="target">Objective position.</param>
/// <param name="isPositionAccessible">Method to check if a position is accessible.</param>
/// <param name="maxCheckedPositions">Maximum number of checked positions for a non-direct path.</param>
/// <returns>List of the positions of the best path found. Not includes the origin position.</returns>
public static List <Vector2Int> Pathfinding(Vector2Int origin, Vector2Int target, IsPositionAccessible isPositionAccessible, int maxCheckedPositions)
{
// First, search direct path
List <Vector2Int> path = DirectPath(origin, target, isPositionAccessible);
// If the direct path not arrives to target, use A*
if (path.Count == 0 || !IsTouchingTarget(path[path.Count - 1], target, isPositionAccessible))
{
path = AstarPath(origin, target, isPositionAccessible, maxCheckedPositions);
}
return(path);
}
