/// <summary> Destroy Grid array and creates a new one from properties. </summary>
/// <param name="nodeType"> You can specify a custom Node class derived from MapNavNode </param>
public override void CreateGrid(System.Type nodeType)
{
grid = new MapNavNode[mapHorizontalSize * mapVerticalSize];
Vector3 posOffs = new Vector3(-mapHorizontalSize * nodeSize / 2f, 0f, -mapVerticalSize * nodeSize / 2f) + new Vector3(nodeSize / 2f, 0f, nodeSize / 2f);
int idx = -1;
for (int y = 0; y < mapVerticalSize; y++)
{
for (int x = 0; x < mapHorizontalSize; x++)
{
idx++;
grid[idx] = (MapNavNode)ScriptableObject.CreateInstance(nodeType);
grid[idx].idx = idx;
grid[idx].q = x;
grid[idx].r = y;
grid[idx].parent = transform;
grid[idx].h = (nodeHeightOpt == NodeHeightOpt.Flat ? minNodeHeight : Random.Range(minNodeHeight, maxNodeHeight + 1));
grid[idx].localPosition = new Vector3(nodeSize * x, nodeHeightStep * grid[idx].h, nodeSize * y) + posOffs;
OnNodeCreated(grid[idx]);
}
}
OnGridChanged(true);
}
/// <summary> Return a list of nodes in a specified range around the given node.
/// The returned list is in no specific order. Excludes invalid nodes. </summary>
/// <param name="node"> The central node. </param>
/// <param name="radius"> Radius from central node that ring starts. </param>
/// <param name="width"> Width of the ring. </param>
/// <param name="callback"> An optional callback that can first check if the node is "valid" and
/// return True if so, else it should return False. </param>
/// <returns>Returns null if there was an error. </returns>
public virtual List <T> NodesRing <T>(MapNavNode node, int radius, int width, ValidationCallback callback)
where T : MapNavNode
{
if (radius < 1)
{
radius = 1;
}
if (width < 1)
{
width = 1;
}
List <T> all = NodesAround <T>(node, radius + (width - 1), false, callback);
List <T> inner = radius > 1 ? NodesAround <T>(node, radius - 1, false, callback) : new List <T>();
if (all == null || inner == null)
{
return(null);
}
for (int i = 0; i < inner.Count; i++)
{
if (all.Contains(inner[i]))
{
all.Remove(inner[i]);
}
}
return(all);
}
// ------------------------------------------------------------------------------------------------------------
/// <summary> Returns the distance from node 1 to node 2. Returns 0 on error. </summary>
public virtual int Distance(MapNavNode node1, MapNavNode node2)
{
if (node1 == null || node2 == null)
{
return(0);
}
return(Distance(node1.idx, node2.idx));
}
private void DrawLinkToolMarkMode()
{
// check what node was clicked on
if (Event.current.button == 0 && (Tools.viewTool == ViewTool.Pan || Tools.viewTool == ViewTool.None))
{
int nSet = Event.current.modifiers == EventModifiers.Shift ? 1 : 0;
if (Event.current.type == EventType.MouseDown || Event.current.type == EventType.MouseDrag)
{
float rayDist = 0f;
Ray ray = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
if (plane.Raycast(ray, out rayDist))
{
Vector3 rayPoint = ray.GetPoint(rayDist);
MapNavNode n = mapnav.NodeAtWorldPosition <MapNavNode>(rayPoint);
if (n != null)
{
if (lastMarked != n.idx)
{
lastMarked = n.idx;
if (linkTool_Nodes[nSet].Contains(n.idx))
{
linkTool_Nodes[nSet].Remove(n.idx);
}
else
{
linkTool_Nodes[nSet].Add(n.idx);
}
}
}
}
Event.current.Use();
}
else if (Event.current.type == EventType.MouseUp)
{
lastMarked = -1;
Event.current.Use();
}
}
float sz = mapnav.nodeSize / 3f;
Handles.color = Color.blue;
for (int i = 0; i < linkTool_Nodes[0].Count; i++)
{
Handles.DrawSolidDisc(mapnav.grid[linkTool_Nodes[0][i]].position, Vector3.up, sz);
}
sz -= 0.05f;
Handles.color = Color.red;
for (int i = 0; i < linkTool_Nodes[1].Count; i++)
{
Handles.DrawSolidDisc(mapnav.grid[linkTool_Nodes[1][i]].position, Vector3.up, sz);
}
}
/// <summary> This returns a list of nodes around the given node, using the notion of "movement costs" to determine
/// if a node should be included in the returned list or not. The callback can be used to specify the "cost" to
/// reach the specified node, making this useful to select the nodes that a unit might be able to move to. </summary>
/// <param name="node"> The central node. </param>
/// <param name="radius"> The maximum area around the node to select nodes from. </param>
/// <param name="callback"> An optional callback (pass null to not use it) that can be used to indicate the cost of
/// moving from one node to another. By default it will "cost" 1 to move from one node to another. By returning 0 in
/// this callback you can indicate that the target node can't be moved to (for example when the tile is occupied).
/// Return a value higher than one (like 2 or 3) if moving to the target node would cost more and potentially
/// exclude the node from the returned list of nodes (when cost to reach it would be bigger than "radius"). </param>
/// <returns> Returns a list of nodes that can be used with grid[]. Returns empty list (not null) if there was an error. </returns>
public virtual List <T> NodesAround <T>(MapNavNode node, int radius, NodeCostCallback callback)
where T : MapNavNode
{
List <int> accepted = NodeIndicesAround(node.idx, radius, callback);
if (accepted.Count > 0)
{
List <T> res = new List <T>();
for (int i = 0; i < accepted.Count; i++)
{
res.Add((T)grid[accepted[i]]);
}
return(res);
}
return(new List <T>(0));
}
/// <summary> Override this for notification while the while a grid is being created. The function is called for
/// each Node being added to the node. You could use this to add your own initialization data to a custom node
/// being created via CreateGrid[T]() </summary>
/// <param name="node"> The node that was created. </param>
public virtual void OnNodeCreated(MapNavNode node)
{
}
/// <summary> Returns a list of nodes that represents a path from one node to another. An A* algorithm is used
/// to calculate the path. Return an empty list on error or if the destination node can't be reached. </summary>
/// <param name="start"> The node where the path should start. </param>
/// <param name="end"> The node to reach. </param>
/// <param name="callback"> An optional callback that can return an integer value to indicate the
/// cost of moving onto the specified node. This callback should return 1
/// for normal nodes and 2+ for higher cost to move onto the node and 0
/// if the node can't be moved onto; for example when the node is occupied. </param>
/// <returns> Return an empty list on error or if the destination node can't be reached. </returns>
public virtual List <T> Path <T>(MapNavNode start, MapNavNode end, NodeCostCallback callback)
where T : MapNavNode
{
if (start == null || end == null)
{
return(new List <T>(0));
}
if (start.idx == end.idx)
{
return(new List <T>(0));
}
List <T> path = new List <T>();
int current = -1;
int next = -1;
float new_cost = 0;
float next_cost = 0;
double priority = 0;
// first check if not direct neighbour and get out early
List <int> neighbors = PathNodeIndicesAround(start.idx); // NodeIndicesAround(start.idx, false, false, null);
if (neighbors != null)
{
if (neighbors.Contains(end.idx))
{
if (callback != null)
{
next_cost = callback(start, end);
if (next_cost >= 1)
{
path.Add((T)end);
}
}
return(path);
}
}
HeapPriorityQueue <PriorityQueueNode> frontier = new HeapPriorityQueue <PriorityQueueNode>(grid.Length);
frontier.Enqueue(new PriorityQueueNode()
{
idx = start.idx
}, 0);
Dictionary <int, int> came_from = new Dictionary <int, int>(); // <for_idx, came_from_idx>
Dictionary <int, float> cost_so_far = new Dictionary <int, float>(); // <idx, cost>
came_from.Add(start.idx, -1);
cost_so_far.Add(start.idx, 0);
while (frontier.Count > 0)
{
current = frontier.Dequeue().idx;
if (current == end.idx)
{
break;
}
neighbors = PathNodeIndicesAround(current); //NodeIndicesAround(current, false, false, null);
if (neighbors != null)
{
for (int i = 0; i < neighbors.Count; i++)
{
next = neighbors[i];
if (callback != null)
{
next_cost = callback(grid[current], grid[next]);
}
if (next_cost <= 0.0f)
{
continue;
}
new_cost = cost_so_far[current] + next_cost;
if (false == cost_so_far.ContainsKey(next))
{
cost_so_far.Add(next, new_cost + 1);
}
if (new_cost < cost_so_far[next])
{
cost_so_far[next] = new_cost;
priority = new_cost + Heuristic(start.idx, end.idx, next);
frontier.Enqueue(new PriorityQueueNode()
{
idx = next
}, priority);
if (false == came_from.ContainsKey(next))
{
came_from.Add(next, current);
}
else
{
came_from[next] = current;
}
}
}
}
}
// build path
next = end.idx;
while (came_from.ContainsKey(next))
{
if (came_from[next] == -1)
{
break;
}
if (came_from[next] == start.idx)
{
break;
}
path.Add((T)grid[came_from[next]]);
next = came_from[next];
}
if (path.Count > 0)
{
path.Reverse();
path.Add((T)end);
}
return(path);
}
/// <summary> Return list of nodes in a certain range around given node.
/// The returned list is in no specific order. Excludes invalid nodes.
/// </summary>
/// <param name="node"> The central node around which to get neighbouring nodes.</param>
/// <param name="range"> The radius around the central node. </param>
/// <param name="includeCentralNode">Should the central node be included? It will be added first in the list if so.</param>
/// <param name="callback"> An optional callback that can first check if the node is "valid" and return True if
/// so, else it should return False. </param>
/// <returns>Returns null if there was an error. </returns>
public virtual List <T> NodesAround <T>(MapNavNode node, int range, bool includeCentralNode, ValidationCallback callback)
where T : MapNavNode
{
return(null);
}
/// <summary>
/// Return list of nodes in a certain range around given node.
/// The returned list is in no specific order. Excludes invalid nodes.
/// </summary>
/// <param name="node"> The central node around which to get neighboring nodes.</param>
/// <param name="radius"> The radius around the central node. </param>
/// <param name="includeCentralNode">Should the central node be included? It will be added first in the list if so.</param>
/// <param name="callback"> An optional callback that can first check if the node is "valid" and return True if
/// so, else it should return False. </param>
/// <returns>Returns null if there was an error. </returns>
public override List <T> NodesAround <T>(MapNavNode node, int radius, bool includeCentralNode, ValidationCallback callback)
{
if (radius < 1)
{
radius = 1;
}
if (node == null)
{
return(null);
}
if (radius == 1)
{
return(NodesAround <T>(node, false, includeCentralNode, callback));
}
List <T> nodes = new List <T>(0);
if (node.idx < 0 || node.idx >= grid.Length)
{
return(null);
}
if (includeCentralNode)
{
if (node.isValid)
{
if (callback != null)
{
if (true == callback(node))
{
nodes.Add((T)node);
}
}
else
{
nodes.Add((T)node);
}
}
}
for (int x = -radius; x <= radius; x++)
{
for (int y = -radius; y <= radius; y++)
{
//if (Mathf.Abs(x + y) > radius) continue;
int q = node.q + x;
int r = node.r + y;
if (q < 0 || r < 0 || q >= mapHorizontalSize || r >= mapVerticalSize)
{
continue;
}
int id = (r * mapHorizontalSize + q);
if (id == node.idx)
{
continue;
}
if (id >= 0 && id < grid.Length)
{
if (grid[id].isValid)
{
if (callback != null)
{
if (false == callback(grid[id]))
{
continue;
}
}
if (false == nodes.Contains((T)grid[id]))
{
nodes.Add((T)grid[id]);
}
}
}
}
}
return(nodes);
}
/// <summary>
/// Returns list of nodes starting at the "next" node and going anti-clockwise around the central node.
/// </summary>
/// <param name="node"> The central node around which to get neighboring nodes.</param>
/// <param name="includeInvalid"> Should "invalid" nodes be included? If so then a NULL entry will be added to the
/// returned list for invalid nodes. An invalid node might be one that is stored in
/// the grid array but not considered to be in the grid. This normally happens with
/// Hexa grids. An invalid node might also be one marked as invalid by the callback function. </param>
/// <param name="includeCentralNode">Should the central node be included? It will be added first in the list if so.</param>
/// <param name="callback"> An optional callback that can first check if the node is "valid" and return True if
/// so, else it should return False. </param>
/// <returns>Returns null if there was an error. </returns>
public override List <T> NodesAround <T>(MapNavNode node, bool includeInvalid, bool includeCentralNode, ValidationCallback callback)
{
if (node == null)
{
return(null);
}
List <T> nodes = new List <T>(includeCentralNode ? 7 : 6);
if (node.idx < 0 || node.idx >= grid.Length)
{
return(null);
}
if (includeCentralNode)
{
if (callback != null)
{
if (false == node.isValid || false == callback(node))
{
if (includeInvalid)
{
nodes.Add(null);
}
}
else
{
nodes.Add((T)node);
}
}
else
{
if (node.isValid)
{
nodes.Add((T)node);
}
else if (includeInvalid)
{
nodes.Add(null);
}
}
}
//int[,] neighbours = diagonalNeighbours ? Neighbours8 : Neighbours4;
int[,] neighbours = Neighbours8; // always use 8-neighbour for this so that a ring around can be selected.
// the special select function witch takes "cost" into account will
// take 4-neighbour type selection into account
for (int dir = 0; dir < neighbours.GetLength(0); dir++)
{
int q = grid[node.idx].q + neighbours[dir, 0];
int r = grid[node.idx].r + neighbours[dir, 1];
MapNavNode n = NodeAt <MapNavNode>(q, r);
if (n == null)
{
if (includeInvalid)
{
nodes.Add(null);
}
continue;
}
if (false == n.isValid)
{
if (includeInvalid)
{
nodes.Add(null);
}
continue;
}
if (callback != null)
{
if (false == callback(n))
{
if (includeInvalid)
{
nodes.Add(null);
}
continue;
}
}
nodes.Add((T)n);
}
return(nodes);
}
