// Use this for initialization
void Start()
{
spawner = FindObjectOfType <SpawnerAI>();
text = GetComponent <Text>();
anim = GetComponent <Animator>();
wave = spawner.wave;
}
/// <summary>
/// A* Pathfinding Algorithm
/// </summary>
/// <param name="spawner">The spawner.</param>
/// <param name="flying">if set to <c>true</c> [flying].</param>
/// <param name="teamId">The team identifier.</param>
/// <returns>
/// List of Vectors that the Monsters will follow till they reach their destination
/// </returns>
LinkedList<Vector2> pathFinding(SpawnerAI spawner, bool flying, int teamId)
{
// 2D Array List of possible paths monsters can take to reach their destination
LinkedList<Vector2> paths = new LinkedList<Vector2>();
// List of tile indexes used for calculating waypoints
LinkedList<Square> usedSquares = new LinkedList<Square>();
LinkedList<Square> openSquares = new LinkedList<Square>();
LinkedList<Square> leadingSquares = new LinkedList<Square>();
Vector2 destSquare = FindTile((teamId != this.teamId ? _opponentPoint.gameObject : _point.gameObject));
int fMin = 0, g = 0;
Square spawn = createSquare(g, FindTile(spawner.gameObject), destSquare);
leadingSquares.AddLast(spawn);
int counter = 0;
int counterMax = (_mapWidth * _mapHeight);
counterMax = counterMax * counterMax;
do
{
if (counter > counterMax)
{
Debug.Log("Algorithm ran for too long, counts: " + counter);
return paths;
}
else
counter++;
foreach(Square square in leadingSquares){
openSquares.Remove (square);
usedSquares.AddLast (square);
//Debug.Log ("Square: g: " + g + " h: " + square.h + " f: " + square.f + " x: " + square.x + " y: " + square.y);
g = square.g;
if (square.h != 0)
{
// Check Adjacent Squares
LinkedList<Vector2> adjacentTiles = AdjacentTiles(square.x, square.y, square.g + 1, usedSquares, openSquares, flying);
foreach (Vector2 adjacentSquare in adjacentTiles)
{
Square temp = createSquare(g +1, adjacentSquare, destSquare);
foreach(Square openSquare in openSquares)
if(distSquare(temp, openSquare) == 0)
continue;
foreach(Square usedSquare in usedSquares)
if(distSquare(temp, usedSquare) == 0)
continue;
openSquares.AddLast(temp);
}
}
else // Found the goal
{
openSquares.Clear();
Square tempSquare = square;
Square cmpSquare = square;
do
{
paths.AddFirst(map[tempSquare.y, tempSquare.x].transform.position);
usedSquares.Remove(tempSquare);
g--;
int smallestDist = int.MaxValue;
foreach(Square usedSquare in usedSquares)
{
if (usedSquare.g == g)
{
if (distSquare(usedSquare, tempSquare) < smallestDist)
{
smallestDist = distSquare(usedSquare, tempSquare);
cmpSquare = usedSquare;
}
}
}
tempSquare = cmpSquare;
} while (g > 0);
paths.AddFirst(map[spawn.y, spawn.x].transform.position);
usedSquares.Remove(tempSquare);
//Debug.Log("Counter Finished: " + counter);
return paths;
}
}
leadingSquares.Clear();
fMin = int.MaxValue;
foreach (Square openSquare in openSquares)
{
if (openSquare.f < fMin)
{
leadingSquares.Clear ();
leadingSquares.AddLast (openSquare);
fMin = openSquare.f;
} else if (openSquare.f == fMin){
leadingSquares.AddLast (openSquare);
}
}
g++;
} while (leadingSquares.Count > 0);
Debug.Log("No possible path exists!");
return paths;
}
/// <summary>
/// creates a new copy of a LinkedList
/// </summary>
/// <param name="spawner">The spawner.</param>
/// <param name="ground">if set to <c>true</c> [ground].</param>
/// <returns></returns>
LinkedList<Vector2> copyWaypoints(SpawnerAI spawner, bool ground)
{
LinkedList<Vector2> copyWaypoints = new LinkedList<Vector2>();
if (ground)
foreach (Vector2 v in spawner.wayPoints)
copyWaypoints.AddLast(v);
else
foreach(Vector2 v in spawner.flyPoints)
copyWaypoints.AddLast(v);
return copyWaypoints;
}
/// <summary>
/// Adds a spawner to a spawner list
/// </summary>
/// <param name="spai">The spai.</param>
/// <param name="teamId">The team identifier.</param>
public void addSpawnerToSpawnerList(SpawnerAI spai, int teamId)
{
spai.targetWaypoint = (teamId == this.teamId ? _point : _opponentPoint);
spawners.Add(spai);
spai.wayPoints = pathFinding(spai, false, teamId);
spai.flyPoints = pathFinding(spai, true, teamId);
teamSpawners[teamId - 1].Add(spai);
}
/// <summary>
/// Adds a spawner to a spawner list
/// </summary>
/// <param name="spai"></param>
public void addSpawnerToSpawnerList(SpawnerAI spai)
{
spawners.Add(spai);
spai.wayPoints = pathFinding(spai);
spai.flyPoints = pathFinding(spai, true);
}
