private IEnumerator FindPathCoroutine()
// private List<Node> FindPathCoroutine()
{
// Debug
ClearMap();
float xCheck = 0;
float yCheck = 0;
int fCost;
int gCost;
int hCost;
Node neighbour;
parent = map.grid[(int)start.x, (int)start.y];
open.Add(parent); // Initial starting point
// Loop until end found
while (open.Count > 0)
{
parent = FindLowestFCost();
// HACK TODO DEBUG
// parent.debugGO.GetComponentInChildren<Renderer>().material.color = Color.green;
// Node is closed
open.Remove(parent);
// TODO: Check shouldn't need the contains check
if (!closed.Contains(parent))
{
closed.Add(parent);
}
if (CheckReachedTarget())
{
yield return(new WaitForSeconds(1f));
OnFoundPath?.Invoke();
yield break;
// return finalPath;
}
// Neighbours recalc
for (int x = -1; x < 2; x++)
{
for (int y = -1; y < 2; y++)
{
// Same as current so bail
if (x == 0 && y == 0)
{
continue;
}
xCheck = parent.position.x + x;
yCheck = parent.position.y + y;
// Bail if out of bounds or the current node, or in the closed list
if (xCheck < 0 || yCheck < 0 || xCheck >= map.size.x || yCheck >= map.size.y)
{
continue;
}
neighbour = map.grid[(int)xCheck, (int)yCheck];
// Bail if node used or blocked
if (closed.Contains(neighbour) || neighbour.isBlocked)
{
continue;
}
// Note: Multiply by ten to maintain ints for distances
hCost = (int)(10 * Vector2.Distance(neighbour.position, target));
gCost = parent.gCost + (int)(10f * Vector2.Distance(parent.position, neighbour.position));
// fCost
fCost = hCost + gCost;
// Bail if the existing fCost is lower
// HACK, don't check for 0, at least do -1 ffs
if (neighbour.fCost != 0 && fCost > neighbour.fCost)
{
continue;
}
// All good, so record new values (don't do it WHILE you're calculating the f,g,h costs because they rely on previous results)
neighbour.hCost = hCost;
neighbour.gCost = gCost;
neighbour.fCost = fCost;
// Debug
var textDebug = neighbour.debugGO.GetComponentInChildren <TextMesh>();
if (textDebug != null)
{
textDebug.text = "g=" + neighbour.gCost + "\nh=" + neighbour.hCost + "\nf=" + neighbour.fCost;
}
neighbour.parent = parent;
// Debug.DrawLine(new Vector3(neighbour.position.x, 0, neighbour.position.y),
// new Vector3(neighbour.position.x, 10f, neighbour.position.y), Color.magenta,
// 0.1f, false);
// TODO: Shouldn't need the contains check
if (!open.Contains(neighbour))
{
open.Add(neighbour);
}
// Debug
cameraDebugPosition = neighbour.position;
if (visualiseSpeed > 0 && showNeigbourSearch)
{
yield return(new WaitForSeconds(visualiseSpeed));
}
}
}
// HACK TODO DEBUG
// parent.debugGO.GetComponentInChildren<Renderer>().material.color = Color.blue;
if (visualiseSpeed > 0 && showNodeSearch)
{
yield return(new WaitForSeconds(visualiseSpeed));
}
}
yield return(new WaitForSeconds(2f));
OnBlockedPath?.Invoke();
// return null;
}
// private IEnumerator FindPathCoroutine()
private List <Node> FindPathCoroutine()
{
// Debug
ClearMap();
float xCheck = 0;
float yCheck = 0;
int fCost;
int gCost;
int hCost;
Node nodeToCheck;
current = map.grid[(int)start.x, (int)start.y];
open.Add(current); // Initial starting point
// Loop until end found
while (open.Count > 0)
{
current = FindLowestFCost();
// HACK TODO DEBUG
current.debugGO.GetComponentInChildren <Renderer>().material.color = Color.green;
// Node is closed
open.Remove(current);
// TODO: Check shouldn't need the contains check
if (!closed.Contains(current))
{
closed.Add(current);
}
if (CheckReachedTarget())
{
// yield return new WaitForSeconds(2f);
OnFoundPath?.Invoke();
// yield break;
return(finalPath);
}
// Neighbours recalc
for (int x = -1; x < 2; x++)
{
for (int y = -1; y < 2; y++)
{
// Same as current so bail
if (x == 0 && y == 0)
{
continue;
}
xCheck = current.position.x + x;
yCheck = current.position.y + y;
// Bail if out of bounds or the current node, or in the closed list
if (xCheck < 0 || yCheck < 0 || xCheck >= map.size.x || yCheck >= map.size.y)
{
continue;
}
nodeToCheck = map.grid[(int)xCheck, (int)yCheck];
// Bail if node used or blocked
if (closed.Contains(nodeToCheck) || nodeToCheck.isBlocked)
{
continue;
}
// Note: Multiply by ten to maintain ints for distances
hCost = (int)(10 * Vector2.Distance(
nodeToCheck.position,
target));
gCost = current.gCost + (int)(10f * Vector2.Distance(
current.position,
nodeToCheck.position));
// fCost
fCost = hCost + gCost;
// Bail if the existing fCost is lower
if (nodeToCheck.fCost != 0 && fCost > nodeToCheck.fCost)
{
continue;
}
// All good, so record new values (don't do it WHILE you're calculating the f,g,h costs because they rely on previous results)
nodeToCheck.hCost = hCost;
nodeToCheck.gCost = gCost;
nodeToCheck.fCost = fCost;
// Debug
if (nodeToCheck.debugGO.GetComponentInChildren <TextMesh>() != null)
{
nodeToCheck.debugGO.GetComponentInChildren <TextMesh>().text =
nodeToCheck.gCost + ":" + nodeToCheck.hCost + "\n" + nodeToCheck.fCost;
}
nodeToCheck.parent = current;
Debug.DrawLine(new Vector3(nodeToCheck.position.x, 0, nodeToCheck.position.y),
new Vector3(nodeToCheck.position.x, 10f, nodeToCheck.position.y), Color.magenta,
0.1f, false);
// TODO: Shouldn't need the contains check
if (!open.Contains(nodeToCheck))
{
open.Add(nodeToCheck);
}
// if (visualiseSpeed > 0) yield return new WaitForSeconds(visualiseSpeed / 10f);
}
}
// HACK TODO DEBUG
current.debugGO.GetComponentInChildren <Renderer>().material.color = Color.blue;
// if (visualiseSpeed > 0) yield return new WaitForSeconds(visualiseSpeed);
}
// yield return new WaitForSeconds(2f);
OnBlockedPath?.Invoke();
return(null);
}