//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
public Errno findPath(int roleTypeId,
Vec2<sbyte> roleSizeInGrids,
Vec2<short> startPos,
Vec2<short> endPos,
IList<AStarNode> path)
{
Errno err = Errno.OK;
if (roleSizeInGrids.x <= 0 || roleSizeInGrids.y <= 0
|| startPos.x < 0 || startPos.x >= _mapSize.x || startPos.y < 0 || startPos.y >= _mapSize.y
|| endPos.x < 0 || endPos.x >= _mapSize.x || endPos.y < 0 || endPos.y >= _mapSize.y
|| path == null)
err = Errno.InvalidArg;
AStarNode node = null;
if (err == Errno.OK)
{
_roleTypeId = roleTypeId;
_roleSize.assign(roleSizeInGrids);
_endPos.assign(endPos);
path.Clear();
//node = new AStarNode(new Vec2<short>(startPos), _map[startPos.y, startPos.x]);
node = new AStarNode(new Vec2<short>(startPos));
node.tileId = _map[startPos.y, startPos.x];
node.speed = _speedConfig.onGetMoveSpeed(this, _roleTypeId, node.tileId);
if (Utils.floatCompare(node.speed, 0) <= 0)
err = Errno.General;
Debug.Assert(err == Errno.OK);
}
if (err == Errno.OK)
{
_openList.Add(getKey(node), node);
err = doFindPath();
}
_closeList.Clear();
if (err == Errno.OK)
node = getNodeFromList(getKey(_endPos), _openList);
_openList.Clear();
if (err == Errno.OK)
generatePath(node, path);
return err;
}
void moveToNextGrid()
{
//if (soldier.index < soldier.paths.Count)
if (soldier.paths.Count > 0)
{
_nextNode = soldier.paths[0];
soldier.paths.RemoveAt(0);
soldier.x = _nextNode.pos.x;
soldier.y = _nextNode.pos.y;
if (soldier.paths.Count > 0)
{
_nextPos.x = _nextNode.pos.x * map.nodeW + map.nodeW / 2.0F;
_nextPos.z = _nextNode.pos.y * map.nodeH + map.nodeH / 2.0F;
//transform.FindChild("Player").LookAt(_nextGridPos);
_direct = _nextPos - transform.position;
_direct = _direct * 10000.0F + _nextPos;
}
else
{
_nextPos.x = soldier._target.x;
_nextPos.z = soldier._target.y;
}
}
else
{
_nextNode = null;
//Debug.Log("soldier.paths.Count == 0");
canRotate = false;
_isMoving = false;
animator.SetBool(runningHash, false);
soldier.paths = null;
_nextPos = Vector3.zero;
playAttackSound();
}
}
//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
private void generatePath(AStarNode node, IList<AStarNode> path)
{
int n = 0;
path.Clear();
AStarNode node1 = node;
while (node1 != null)
{
path.Add(node);
node1 = node1.previousNode;
++n;
}
//--n;
node1 = node;
while (node1 != null /*&& n > 0*/)
{
path[--n] = node1;
node1 = node1.previousNode;
}
}
private void fillBorderSpeeds(AStarNode curNode, int rowNum, int colNum, float[,] speeds)
{
Vec2<short> curPos = curNode.pos;
int row, col;
for (row = 0; row < rowNum; ++row)
for (col = 0; col < colNum; ++col)
{
if (row != 0 && row != (rowNum - 1) && col != 0 && col != (colNum - 1))
speeds[row, col] = -1;
else
speeds[row, col] = 0;
}
bool isSkip = false;
Vec2<short> pos = new Vec2<short>();
int i, j;
for (row = 0; row < rowNum; ++row)
for (col = 0; col < colNum; ++col)
{
isSkip = Utils.floatCompare(speeds[row, col], 0) < 0;
if (!isSkip)
{
pos.x = (short)(curPos.x + col - 1);
pos.y = (short)(curPos.y + row - 1);
if (pos.x < 0 || pos.x >= _mapSize.x)
{
for (i = 0; i < rowNum; ++i)
speeds[i, col] = -1;
isSkip = true;
}
}
if (!isSkip && (pos.y < 0 || pos.y >= _mapSize.y))
{
for (j = 0; j < colNum; ++j)
speeds[row, j] = -1;
isSkip = true;
}
if (!isSkip)
{
speeds[row, col] = _speedConfig.onGetMoveSpeed(
this,
_roleTypeId,
(short)_map[pos.y, pos.x]);
if (Utils.floatCompare(speeds[row, col], 0) <= 0)
{
isSkip = true;
if (row != 0 && row != (rowNum - 1))
{
for (i = 0; i < rowNum; ++i)
speeds[i, col] = -1;
}
else if (col != 0 && col != (colNum - 1))
{
for (j = 0; j < colNum; ++j)
speeds[row, j] = -1;
}
}
}
} // for
}
private void convertBorderSpeedsToNeighbor(
float[,] borderSpeeds, int rowNum, int colNum, AStarNode curNode,
float[,] neighborSpeeds)
{
Vec2<short> curPos = curNode.pos;
int row, col;
for (row = 0; row < 3; ++row)
for (col = 0; col < 3; ++col)
neighborSpeeds[row, col] = 0;
neighborSpeeds[1, 1] = -1;
bool isSkip = false;
Vec2<short> pos = new Vec2<short>();
int key;
float speed;
int i, j;
for (row = 0; row < 3; ++row)
for (col = 0; col < 3; ++col)
{
isSkip = Utils.floatCompare(neighborSpeeds[row, col], 0) < 0;
if (!isSkip)
{
pos.x = (short)(curPos.x + col - 1);
pos.y = (short)(curPos.y + row - 1);
key = getKey(pos);
if (getNodeFromList(key, _closeList) != null)
{
neighborSpeeds[row, col] = -1;
isSkip = true;
if (row == 1)
{
neighborSpeeds[0, col] = -1;
neighborSpeeds[2, col] = -1;
}
else if (col == 1)
{
neighborSpeeds[row, 0] = -1;
neighborSpeeds[row, 2] = -1;
}
}
}
if (!isSkip)
{
speed = 0;
if ((row == 0 || row == 2) && (col == 0 || col == 2))
{
i = (row == 0 ? 0 : rowNum - 1);
j = (col == 0 ? 0 : colNum - 1);
speed = borderSpeeds[i, j];
}
else if (row == 0 || row == 2)
{
i = (row == 0 ? 0 : rowNum - 1);
for (j = 1; j < colNum - 1; ++j)
speed += borderSpeeds[i, j];
speed /= (float)(colNum - 2);
}
else //if (col == 0 || col == 2)
{
j = (col == 0 ? 0 : colNum - 1);
for (i = 1; i < rowNum - 1; ++i)
speed += borderSpeeds[i, j];
speed /= (float)(rowNum - 2);
}
neighborSpeeds[row, col] = speed;
}
}
}
private void addNeighborsToOpenList(float[,] neighborSpeeds, AStarNode curNode)
{
int row, col;
float speed, costG;
Vec2<short> curPos = curNode.pos;
Vec2<short> pos = new Vec2<short>();
int key;
AStarNode node = null;
for (row = 0; row < 3; ++row)
for (col = 0; col < 3; ++col)
{
speed = neighborSpeeds[row, col];
if (Utils.floatCompare(speed, 0) <= 0)
continue;
if (row == 1 || col == 1)
costG = 10000.0F / speed;
else
costG = 14142.135623730950488016887242097F / speed;
costG += curNode.costG;
pos.x = (short)(curPos.x + col - 1);
pos.y = (short)(curPos.y + row - 1);
key = getKey(pos);
node = getNodeFromList(key, _openList);
if (node == null)
{
node = new AStarNode(new Vec2<short>(pos));
node.tileId = _map[pos.y, pos.x];
node.speed = speed;
node.costH = _hCostEstimator.onEvaluateHCost(this, pos, _endPos);
node.costG = costG;
node.previousNode = curNode;
_openList.Add(key, node);
}
else if (costG < node.costG)
{
node.costG = costG;
node.previousNode = curNode;
}
} // for
}
//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
private static int getKey(AStarNode node)
{
return getKey(node.pos);
}