public void Execute()
{
List <Node> path = null;
switch (m_searchType)
{
case eSearchType.DFS:
SearchDFS.Build(m_source, m_destination, out path);
break;
case eSearchType.BFS:
SearchBFS.Build(m_source, m_destination, out path);
break;
case eSearchType.DIJKSTRA:
//SearchDIJKSTRA.Build(m_source, m_destination, out path);
break;
case eSearchType.A_STAR:
SearchAStar.Build(m_source, m_destination, out path);
break;
default:
break;
}
if (path != null)
{
m_agent.waypoint = path[0].GetComponentInChildren <Waypoint>();
if (m_warpAgentToSource)
{
m_agent.transform.position = m_agent.waypoint.transform.position;
}
for (int i = 0; i < path.Count - 1; i++)
{
Waypoint waypoint = path[i].GetComponentInChildren <Waypoint>();
waypoint.nextWaypoint = path[i + 1].GetComponentInChildren <Waypoint>();
}
foreach (Node pathNode in path)
{
if (pathNode.type == Node.eType.STANDARD)
{
pathNode.type = Node.eType.PATH;
}
}
GameObject[] gameObjects = GameObject.FindGameObjectsWithTag("Node");
foreach (GameObject go in gameObjects)
{
Node node = go.GetComponent <Node>();
if (node)
{
if (node.visited && node.type == Node.eType.STANDARD)
{
node.type = Node.eType.VISITED;
}
}
}
}
}
public Vector Execute(Tank tank, int timeElapsed)
{
Vector steeringForce = new Vector(0, 0);
//Keep following path until finished
if (tank.PlayerInAttackZone())
{
ClearPath();
tank.ChangeState(new TankAttackPlayer());
}
else if (tank.PlayerNotSeenAtLastLocation())
{
ClearPath();
tank.ChangeState(new TankPatrol(tank));
}
else if (path.Count == 0)
{
tank.gameWorld.GridLogic.CalculateNeighborsEntities(tank, Tank.MaxRadiusOfTankSeight);
foreach (MovingEntity entity in tank.gameWorld.GridLogic.EntitiesInRange)
{
if (entity is Player)
{
searchAStar = new SearchAStar(tank, entity.InCell);
searchAStar.Search();
path = searchAStar.GetPathToTarget();
if (path.Count == 0)
{
return(steeringForce);
}
//Path starts from end of list so the path following needs to be started at the end of the list
i = path.Count - 1;
steeringForce = seek.Execute(tank, path[i].Position) * GlobalVars.SeekingWeight;
}
}
}
else
{
if (i > 0)
{
//Seek current cell in path
steeringForce = seek.Execute(tank, path[i].Position) * GlobalVars.SeekingWeight;
// steeringForce += avoid.Execute(tank) * GlobalVars.ObstacleAvoidanceWeight;
//go to next step in path if the tank approximatly reached the cell
if (tank.DistanceToPosition(path[i].Position) <= GlobalVars.cellSize / 2)
{
i--;
}
}
else
{
ClearPath();
}
}
return(steeringForce);
}
public void UpdateSearchInfoForSoldier(SearchAStar.PathInfo pathinfo)
{
mSearchTimeText.text = pathinfo.TimeTaken.ToString();
mNodesSearchedText.text = pathinfo.NodesSearched.ToString();
mEdgesSearchedText.text = pathinfo.EdgesSearched.ToString();
mDistance.text = pathinfo.CostToTarget.ToString();
}
/// <summary>
/// Attempts to move this enemy towards the player.
/// </summary>
public void SeekPlayer()
{
var playerObj = FindObjectOfType <Player>();
var pathFinder = new SearchAStar(this, transform.position, playerObj.transform.position,
new ManhattanDistance(playerObj.transform.position));
var destination = pathFinder.Search();
if (destination == null)
{
Debug.Log("Pathfinding: Enemy cannot find valid path to target! " + transform);
return;
}
var direction = destination[0].Destination - (Vector2)transform.position;
AttemptMove <Component>((int)direction.x, (int)direction.y);
}
// Use this for initialization
void Start()
{
mPathFinder = FindObjectOfType (typeof(PathFinder)) as PathFinder;
Debug.Assert (mPathFinder != null);
mNavGraph = mPathFinder.NavGraph;
mAstarSearch = new SearchAStar(mNavGraph, mSourceCellIndex, mTargetCellIndex, mIgnoreWall, mStrickDistance, mHCostPercentage, mBDrawExplorePath, mExplorePathRemainTime);
Debug.Assert(mNavGraph != null);
}