void CreateGraph( )
{
//Add x nodes to graph
for (float i = startNode.x; i < ( targetGameObject.position.x ); i++ ){
Vector3 nodeTransformPosition = new Vector3( i, incrementY, 0 );
Vector3 inverseNodePosition = new Vector3(i, incrementY, 0);
PathFinderNodes nodeObject = new PathFinderNodes( nodeTransformPosition);
if( SmartGraph( nodeObject ) ){
continue;
}
if( counter == 1 ){
checkingNode = nodeObject;
}
targetNode = nodeObject;
counter++;
storedNodeList.Add( nodeObject, nodeTransformPosition );
}
if( incrementY < ( ( targetGameObject.position.y ) ) ){
incrementY ++;
CreateGraph( ); //Recursively add new vertical rows
}
}
bool SmartGraph( PathFinderNodes node )
{
RaycastHit2D upHit = Physics2D.Raycast( node.objectPosition, Vector3.up, raycastSize );
node.extraCostWeight = 10;
if ( upHit.collider != null ){
if (upHit.collider.gameObject.layer == 10 ){
return true;
}
}
return false;
}
float ManhattenHeuristic( PathFinderNodes currenNodePosition )
{
Vector3 newPos = currenNodePosition.objectPosition;
Vector3 endPos = targetGameObject.transform.position;
float calculateHeuristic = ( Mathf.Abs( newPos.x - endPos.x ) +
Mathf.Abs( newPos.y - endPos.y ) );
return calculateHeuristic;
}
void FindPath( )
{
if ( checkingNode.upNode != null ){
DetermineNodeValues(checkingNode, checkingNode.upNode);
}
if ( checkingNode.downNode != null ){
DetermineNodeValues(checkingNode, checkingNode.downNode);
}
if ( checkingNode.rightNode != null ){
DetermineNodeValues(checkingNode, checkingNode.rightNode);
}
if ( checkingNode.leftNode != null ){
DetermineNodeValues(checkingNode, checkingNode.leftNode);
}
if( !foundTarget ){
closedNodeList.Add( checkingNode );
checkingNode.isClosed = true;
checkingNode.onOpenList = false;
if( checkingNode == openQueue.Peek( ).Value ){
openQueue.DequeueValue( );
}
if( openQueue.IsEmpty ){
Debug.LogError( "AI Path Cannot be found: Invalid Path" );
} else {
checkingNode = openQueue.Peek( ).Value;
}
} else {
TraceBackPath( );
}
}
void FindBaseMovementCost( PathFinderNodes node )
{
RaycastHit2D rightHit = Physics2D.Raycast( node.objectPosition, Vector3.right, raycastSize );
RaycastHit2D leftHit = Physics2D.Raycast(node.objectPosition, Vector3.left, raycastSize );
RaycastHit2D downHit = Physics2D.Raycast(node.objectPosition, Vector3.down, raycastSize );
node.extraCostWeight = 10;
if ( rightHit.collider != null ){
if (rightHit.collider.gameObject.layer == 9 ){
node.extraCostWeight = 20;
}
}
else if ( leftHit.collider != null ){
if( leftHit.collider.gameObject.layer == 9 ){
node.extraCostWeight = 20;
}
}
else if ( downHit.collider ){
if( downHit.collider.gameObject.layer == 8 ){
node.extraCostWeight = -10;
}
if( downHit.collider.gameObject.layer == 9 ){
node.extraCostWeight = 20;
}
}
}
void DetermineNodeValues( PathFinderNodes currentNode, PathFinderNodes testing )
{
if ( testing == null ) {
return;
}
if ( testing == targetNode ) {
targetNode.parentNode = currentNode;
openQueue = null;
foundTarget = true;
return;
}
if( !testing.isClosed && openQueue != null){
if( !testing.onOpenList ){
testing.parentNode = currentNode;
testing.movementCost = currentNode.movementCost + testing.extraCostWeight;
testing.CalculateFValues( );
testing.onOpenList = true;
openQueue.Enqueue( testing.totalCost, testing );
}
}
}
