private static void SetOriginOpenListForCanonicalDijkstra(FastPriorityQueue <PathNode> openList,
MapColliderInfo map, int2 origin, int2 dir)
{
int2 next = origin + dir;
if (MapColliderUtils.UnReachable(map, next.x, next.y))
{
return;
}
float cost = 1f;
if (dir.x != 0 && dir.y != 0)
{
if (MapColliderUtils.UnReachable(map, origin + new int2(dir.x, 0)) &&
MapColliderUtils.UnReachable(map, origin + new int2(0, dir.y)))
{
return;
}
cost = 1.5f;
}
map.IntegrationField[next.x, next.y] = cost;
openList.Enqueue(new PathNode(next, dir), cost);
}
private static void CanonicalOrdering(FastPriorityQueue <PathNode> openList, MapColliderInfo map, int2 node, int2 dir, float cost)
{
if (dir.x == 0 || dir.y == 0)
{
MoveCardinal(openList, map, node, dir, cost);
}
else
{
MoveDiagonal(openList, map, node, dir, cost);
}
}
private void CreateBarrier(MapColliderInfo colliderMap, MapTerrainInfo terrainMap, int x, int y)
{
if (MapColliderUtils.UnReachable(colliderMap, x, y))
{
return;
}
for (int y2 = -1 + y; y2 < (1 + y); y2++)
{
for (int x2 = -1 + x; x2 < (1 + x); x2++)
{
MapColliderUtils.AddCost(colliderMap, x2, y2, 3);
}
}
MapColliderUtils.SetCostValue(colliderMap, x, y, 255);
// Instantiate a barrier on (x, y)
var barrierRenderer = EntityPrefabContainer.BarrierRenderer;
var drawPos = barrierRenderer.GetComponent <Position2DComponent> ().Value.Offset;
drawPos += new float2(x, y);
var heading = barrierRenderer.GetComponent <Heading2DComponent> ().Value.Value;
PostUpdateCommands.CreateEntity(EntityPrefabContainer.BarrierArchetype);
PostUpdateCommands.SetComponent(new Position2D()
{
Value = new float2(x, y),
Offset = drawPos - new float2(x, y)
});
PostUpdateCommands.SetComponent(new Heading2D()
{
Value = heading
});
PostUpdateCommands.SetComponent(new TransformMatrix
{
Value = MathUtils.GetTransformMatrix(drawPos, heading)
});
PostUpdateCommands.SetComponent(
barrierRenderer.GetComponent <BarrierComponent> ().Value
);
PostUpdateCommands.SetSharedComponent(
barrierRenderer.GetComponent <TerrainRendererComponent> ().Value
);
var barrierColPos = new Vector3(x, 0, y);
var barrierCol = Object.Instantiate(EntityPrefabContainer.BarrierColliderPrefab,
barrierColPos, Quaternion.identity);
terrainMap.Terrains[x, y] |= TerrainType.Barrier;
MapTerrainUtils.AddCollider(terrainMap, barrierCol);
}
public static bool IsWall(MapColliderInfo map, int x, int y)
{
if (x >= map.MapWidth || x < 0)
{
return(false);
}
if (y >= map.MapHeight || y < 0)
{
return(false);
}
return(map.CostField[x, y] == 0xff);
}
public static void SetCostValue(MapColliderInfo map, int x, int y, byte value)
{
if (x >= map.MapWidth || x < 0)
{
return;
}
if (y >= map.MapHeight || y < 0)
{
return;
}
map.CostField[x, y] = value;
}
public static bool UnReachable(MapColliderInfo map, int x, int y)
{
if (x >= map.MapWidth || x < 0)
{
return(true);
}
if (y >= map.MapHeight || y < 0)
{
return(true);
}
return(map.CostField[x, y] == 0xff);
}
public static void SubtracCost(MapColliderInfo map, int x, int y, byte value)
{
if (x >= map.MapWidth || x < 0)
{
return;
}
if (y >= map.MapHeight || y < 0)
{
return;
}
map.CostField[x, y] = (byte)math.clamp(map.CostField[x, y] - value, 0, 0xff);
}
/// <summary>
/// If node is a jump point, return the new direction. Otherwise return int2(0,0)
/// </summary>
private static int2 IsJumpPoint(MapColliderInfo map, int2 child, int2 dir)
{
int2 parent = child - dir;
int2 falseReval = new int2(0, 0);
if (dir.x == 0 && dir.y != 0)
{
if (parent.x > 0)
{
if (MapColliderUtils.IsWall(map, parent.x - 1, parent.y) &&
!MapColliderUtils.IsWall(map, child.x - 1, child.y))
{
return(new int2(-1, dir.y));
}
}
if (parent.x < (map.MapWidth - 1))
{
if (MapColliderUtils.IsWall(map, parent.x + 1, parent.y) &&
!MapColliderUtils.IsWall(map, child.x + 1, child.y))
{
return(new int2(1, dir.y));
}
}
}
else if (dir.x != 0 && dir.y == 0)
{
if (parent.y > 0)
{
if (MapColliderUtils.IsWall(map, parent.x, parent.y - 1) &&
!MapColliderUtils.IsWall(map, child.x, child.y - 1))
{
return(new int2(dir.x, -1));
}
}
if (parent.y < (map.MapHeight - 1))
{
if (MapColliderUtils.IsWall(map, parent.x, parent.y + 1) &&
!MapColliderUtils.IsWall(map, child.x, child.y + 1))
{
return(new int2(dir.x, 1));
}
}
}
return(falseReval);
}
public void AddMapColliderList(string name, List <MapColliderItem> itemList)
{
foreach (var item in _mapColliderInfoList)
{
if (item._name == name)
{
Debug.LogError("MapDesc Has Same Map Collider Info");
return;
}
}
MapColliderInfo info = new MapColliderInfo();
info._name = name;
info._itemList = itemList;
_mapColliderInfoList.Add(info);
}
/// <summary>
/// Use the uniform cost field to generate the integration field.
/// It is more efficient than <see cref = "GenerateDijkstraIntegratField" />
/// </summary>
public static void GenerateCanonicalDijkstraIntegratField(MapColliderInfo map, int2 target)
{
if (MapColliderUtils.UnReachable(map, target.x, target.y))
{
return;
}
float maxValue = float.MaxValue;
int mapWidth = map.MapWidth;
int mapHeight = map.MapHeight;
float[, ] inteField = map.IntegrationField;
IntegrateFlag[, ] inteInfos = map.IntegrateInfos;
for (int y = 0; y < mapHeight; y++)
{
for (int x = 0; x < mapWidth; x++)
{
inteField[x, y] = maxValue;
inteInfos[x, y] &= ~IntegrateFlag.Visited; // Init all field visited flag to false
}
}
FastPriorityQueue <PathNode> openList = new FastPriorityQueue <PathNode> (mapWidth * mapHeight / 10);
// Origin
inteField[target.x, target.y] = 0;
inteInfos[target.x, target.y] |= IntegrateFlag.Visited;
SetOriginOpenListForCanonicalDijkstra(openList, map, target, new int2(1, 0));
SetOriginOpenListForCanonicalDijkstra(openList, map, target, new int2(1, 1));
SetOriginOpenListForCanonicalDijkstra(openList, map, target, new int2(0, 1));
SetOriginOpenListForCanonicalDijkstra(openList, map, target, new int2(-1, 1));
SetOriginOpenListForCanonicalDijkstra(openList, map, target, new int2(-1, 0));
SetOriginOpenListForCanonicalDijkstra(openList, map, target, new int2(-1, -1));
SetOriginOpenListForCanonicalDijkstra(openList, map, target, new int2(0, -1));
SetOriginOpenListForCanonicalDijkstra(openList, map, target, new int2(1, -1));
while (openList.Count > 0)
{
var bestNode = openList.Dequeue();
CanonicalOrdering(openList, map, bestNode.Node, bestNode.Dir,
inteField[bestNode.Node.x, bestNode.Node.y]);
}
}
private static void MoveDiagonal(FastPriorityQueue <PathNode> openList, MapColliderInfo map, int2 start, int2 dir, float cost)
{
if (dir.x == 0 || dir.y == 0)
{
return;
}
while (!MapColliderUtils.UnReachable(map, start.x, start.y))
{
IntegrateFlag integrateFlag = map.IntegrateInfos[start.x, start.y];
if (integrateFlag.HasFlag(IntegrateFlag.Visited))
{
if (map.IntegrationField[start.x, start.y] > cost)
{
map.IntegrationField[start.x, start.y] = cost;
}
else
{
return;
}
}
else
{
map.IntegrateInfos[start.x, start.y] |= IntegrateFlag.Visited;
map.IntegrationField[start.x, start.y] = cost;
}
MoveCardinal(openList, map, start, new int2(dir.x, 0), cost);
MoveCardinal(openList, map, start, new int2(0, dir.y), cost);
if (!MapColliderUtils.UnReachable(map, start + new int2(dir.x, 0)) ||
!MapColliderUtils.UnReachable(map, start + new int2(0, dir.y)))
{
start += dir;
cost += 1.5f;
}
else
{
return;
}
}
}
private static void MoveCardinal(FastPriorityQueue <PathNode> openList, MapColliderInfo map, int2 start, int2 dir, float cost)
{
start += dir;
cost += 1;
while (!MapColliderUtils.UnReachable(map, start.x, start.y))
{
IntegrateFlag integrateFlag = map.IntegrateInfos[start.x, start.y];
if (integrateFlag.HasFlag(IntegrateFlag.Visited))
{
if (map.IntegrationField[start.x, start.y] > cost)
{
map.IntegrationField[start.x, start.y] = cost;
}
else
{
return;
}
}
int2 newdir = IsJumpPoint(map, start, dir);
if (newdir.x != 0 || newdir.y != 0)
{
if (integrateFlag.HasFlag(IntegrateFlag.Visited))
{
map.IntegrateInfos[start.x, start.y] &= ~IntegrateFlag.Visited;
}
map.IntegrationField[start.x, start.y] = math.min(map.IntegrationField[start.x, start.y], cost);
openList.Enqueue(new PathNode(start, newdir), cost);
return;
}
else
{
map.IntegrateInfos[start.x, start.y] |= IntegrateFlag.Visited;
map.IntegrationField[start.x, start.y] = cost;
start += dir;
cost += 1;
}
}
}
public static void GenerateFlowField(MapColliderInfo map, int2 target)
{
float[] neighboers = new float[8];
bool[] blocks = new bool[8];
float[, ] inteField = map.IntegrationField;
FlowFieldDir[, ] flowField = map.FlowField;
float maxValue = float.MaxValue;
for (int y = 0; y < (map.MapHeight); y++)
{
for (int x = 0; x < (map.MapWidth); x++)
{
if (MapColliderUtils.UnReachable(map, x, y))
{
flowField[x, y] = FlowFieldDir.None;
continue;
}
blocks[0] = MapColliderUtils.UnReachable(map, x - 1, y + 1);
blocks[1] = MapColliderUtils.UnReachable(map, x, y + 1);
blocks[2] = MapColliderUtils.UnReachable(map, x + 1, y + 1);
blocks[3] = MapColliderUtils.UnReachable(map, x - 1, y);
blocks[4] = MapColliderUtils.UnReachable(map, x + 1, y);
blocks[5] = MapColliderUtils.UnReachable(map, x - 1, y - 1);
blocks[6] = MapColliderUtils.UnReachable(map, x, y - 1);
blocks[7] = MapColliderUtils.UnReachable(map, x + 1, y - 1);
neighboers[0] = (blocks[0] || (blocks[3] && blocks[1])) ? maxValue : inteField[x - 1, y + 1];
neighboers[1] = (blocks[1]) ? maxValue : inteField[x, y + 1];
neighboers[2] = (blocks[2] || (blocks[1] && blocks[4])) ? maxValue : inteField[x + 1, y + 1];
neighboers[3] = (blocks[3]) ? maxValue : inteField[x - 1, y];
neighboers[4] = (blocks[4]) ? maxValue : inteField[x + 1, y];
neighboers[5] = (blocks[5] || (blocks[3] && blocks[6])) ? maxValue : inteField[x - 1, y - 1];
neighboers[6] = (blocks[6]) ? maxValue : inteField[x, y - 1];
neighboers[7] = (blocks[7] || (blocks[4] && blocks[6])) ? maxValue : inteField[x + 1, y - 1];
int minIdx = 0;
for (int i = 1; i < 8; i++)
{
if (neighboers[i] < neighboers[minIdx])
{
minIdx = i;
}
}
switch (minIdx)
{
case 0:
flowField[x, y] = FlowFieldDir.Deg135;
break;
case 1:
flowField[x, y] = FlowFieldDir.Deg90;
break;
case 2:
flowField[x, y] = FlowFieldDir.Deg45;
break;
case 3:
flowField[x, y] = FlowFieldDir.Deg180;
break;
case 4:
flowField[x, y] = FlowFieldDir.Deg0;
break;
case 5:
flowField[x, y] = FlowFieldDir.Deg225;
break;
case 6:
flowField[x, y] = FlowFieldDir.Deg270;
break;
case 7:
flowField[x, y] = FlowFieldDir.Deg315;
break;
}
}
}
flowField[target.x, target.y] = FlowFieldDir.None;
}
public static void GenerateDijkstraIntegratField(MapColliderInfo map, int2 target)
{
float maxValue = float.MaxValue;
int mapWidth = map.MapWidth;
int mapHeigth = map.MapHeight;
byte[, ] costField = map.CostField;
float[, ] inteField = map.IntegrationField;
for (int y = 0; y < mapHeigth; y++)
{
for (int x = 0; x < mapWidth; x++)
{
inteField[x, y] = maxValue;
}
}
inteField[target.x, target.y] = 0;
Queue <int2> openList = new Queue <int2> (mapWidth * mapHeigth / 10);
openList.Enqueue(target);
int2[] neighborIds = new int2[4];
while (openList.Count > 0)
{
int2 cur = openList.Dequeue();
float endCost = 0;
int neighborLength = 0;
if (cur.y > 0)
{
neighborIds[neighborLength++] = new int2(cur.x, cur.y - 1);
}
if (cur.y < (mapHeigth - 1))
{
neighborIds[neighborLength++] = new int2(cur.x, cur.y + 1);
}
if (cur.x > 0)
{
neighborIds[neighborLength++] = new int2(cur.x - 1, cur.y);
}
if (cur.x < (mapWidth - 1))
{
neighborIds[neighborLength++] = new int2(cur.x + 1, cur.y);
}
int2 neighborId;
for (int i = 0; i < neighborLength; i++)
{
neighborId = neighborIds[i];
if (MapColliderUtils.UnReachable(map, neighborId.x, neighborId.y))
{
continue;
}
endCost = inteField[cur.x, cur.y] + costField[neighborId.x, neighborId.y] + 1;
if (endCost < inteField[neighborId.x, neighborId.y])
{
if (!openList.Contains(neighborId))
{
openList.Enqueue(neighborId);
}
inteField[neighborId.x, neighborId.y] = endCost;
}
}
}
}
public static bool UnReachable(MapColliderInfo map, int2 coordinate)
{
return(UnReachable(map, coordinate.x, coordinate.y));
}