public static void RequestPath(PathRequest request)
{
ThreadStart threadStart = delegate
{
instance.pathFinding.FindPath(request, instance.FinishedProcessingPath);
};
threadStart.Invoke();
}
public void RequestPath(PathRequest request) // this should be static
{
ThreadStart threadStart = delegate
{
pathFinding.FindPath(request, FinishedProcessingPath);
};
threadStart.Invoke();
}
public void RequestSimulatePath(PathRequest request) // this should be static
{
ThreadStart threadStart = delegate
{
StopAllCoroutines();
StartCoroutine(pathFinding.FindPathSimulation(request, FinishedProcessingPath));
};
threadStart.Invoke();
}
//changing to IEnumerator
// Main A* algo
/*
* A* Search Algorithm From G4G
* 1. Initialize the open list
* 2. Initialize the closed list
* put the starting node on the open
* list (you can leave its f at zero)
*
* 3. while the open list is not empty
* a) find the node with the least f on
* the open list, call it "q"
*
* b) pop q off the open list
*
* c) generate q's 8 successors and set their
* parents to q
*
* d) for each successor
* i) if successor is the goal, stop search
* successor.g = q.g + distance between
* successor and q
* successor.h = distance from goal to
* successor
* successor.f = successor.g + successor.h
*
* ii) if a node with the same position as
* successor is in the OPEN list which has a
* lower f than successor, skip this successor
*
* iii) if a node with the same position as
* successor is in the CLOSED list which has
* a lower f than successor, skip this successor
* otherwise, add the node to the open list
* end (for loop)
*
* e) push q on the closed list
* end (while loop)
*/
public void FindPath(PathRequest request, Action <PathResult> callback) //public void FindPath(Vector3 startPosition, Vector3 targetPosition)
{
FieldNode startNode = grid.NodeFromFieldGrid(request.pathStart);
FieldNode endNode = grid.NodeFromFieldGrid(request.pathEnd);
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
// check if startNode and endNode is in a placeable node
if (startNode.isPlaceable && endNode.isPlaceable)
{
Heap <FieldNode> openSet = new Heap <FieldNode>(grid.MaxSize); // List for unoptimized version
HashSet <FieldNode> closedSet = new HashSet <FieldNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
/*push q on the closed list
* end */
FieldNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == endNode)
{
sw.Stop();
print(this.transform.name + " path Found " + sw.ElapsedMilliseconds + "ms");
pathSuccess = true;
// TracePath(startNode, endNode);
break;
// return;
}
// calculate gCost and hCost
// by nearest neighbor
foreach (FieldNode neighbor in grid.GetNeighbors(currentNode))
{
if (!neighbor.isPlaceable || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCostToNeighbor = currentNode.gCost + GetDistance(currentNode, neighbor) + neighbor.movementPenalty;
if (newMovementCostToNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
neighbor.hCost = GetDistance(neighbor, endNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
else
{
openSet.UpdateItem(neighbor);
}
}
}
}
}
if (pathSuccess)
{
waypoints = TracePath(startNode, endNode);
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callBack));
}
// Change to IEnumerator
public IEnumerator FindPathSimulation(PathRequest request, Action <PathResult> callback) //public void FindPath(Vector3 startPosition, Vector3 targetPosition)
{
FieldNode startNode = grid.NodeFromFieldGrid(request.pathStart);
Spawn.instance.placeVisualCloseNode(startNode);
yield return(new WaitForSecondsRealtime(timeScale));
FieldNode endNode = grid.NodeFromFieldGrid(request.pathEnd);
Spawn.instance.placeVisualCloseNode(endNode);
yield return(new WaitForSeconds(timeScale));
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
if (startNode.isPlaceable && endNode.isPlaceable)
{
Heap <FieldNode> openSet = new Heap <FieldNode>(grid.MaxSize); // List for unoptimized version
HashSet <FieldNode> closedSet = new HashSet <FieldNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
FieldNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
Spawn.instance.placeVisualOpenNode(currentNode);
yield return(new WaitForSeconds(timeScale));
if (currentNode == endNode)
{
sw.Stop();
print(this.transform.name + " path Found " + sw.ElapsedMilliseconds + "ms");
pathSuccess = true;
// foreach (FieldNode n in closedSet)
// {
// Spawn.instance.placeVisualCloseNode(n);
// yield return new WaitForSeconds(timeScale);
// }
// TracePath(startNode, endNode);
Spawn.instance.placeVisualCloseNode(endNode);
yield return(new WaitForSeconds(timeScale));
break;
// return;
}
foreach (FieldNode neighbor in grid.GetNeighbors(currentNode))
{
if (!neighbor.isPlaceable || closedSet.Contains(neighbor))
{
Spawn.instance.placeVisualCloseNode(neighbor);
yield return(new WaitForSeconds(timeScale));
continue;
}
int newMovementCostToNeighbor = currentNode.gCost + GetDistance(currentNode, neighbor) + neighbor.movementPenalty;
if (newMovementCostToNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
neighbor.hCost = GetDistance(neighbor, endNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
else
{
openSet.UpdateItem(neighbor);
}
Spawn.instance.placeVisualOpenNode(neighbor);
yield return(new WaitForSeconds(timeScale));
}
}
}
}
if (pathSuccess)
{
waypoints = SimulateTracePath(startNode, endNode);
Spawn.instance.placeVisualPathNode(startNode);
yield return(new WaitForSeconds(timeScale));
pathSuccess = waypoints.Length > 0;
foreach (Vector3 waypoint in waypoints)
{
Spawn.instance.placeVisualPathNode(waypoint);
yield return(new WaitForSeconds(timeScale));
}
Spawn.instance.placeVisualPathNode(endNode);
yield return(new WaitForSeconds(timeScale));
}
callback(new PathResult(waypoints, pathSuccess, request.callBack));
yield return(null);
}