public PathRequest(Vector3 pathStart, Vector3 pathEnd, BBCoordinate bound, Action<Vector3[], bool> callback)
{
this.pathStart = pathStart;
this.pathEnd = pathEnd;
this.bound = bound;
this.callback = callback;
}
public static BBCoordinate CompoundCoordinate(BBCoordinate[] coordinates)
{
int x = 0, y = 0;
for (int i = 0; i < coordinates.Length; i++) {
x += coordinates[i].x;
y += coordinates[i].y;
}
return new BBCoordinate(x, y);
}
private IEnumerator FindPath(Vector3 startPos, Vector3 targetPos, BBCoordinate bound)
{
Vector3[] waypoints = new Vector3[0];
bool isPathSuccess = false;
BBNode startNode = this.grid.NodeFromWorldPoint(startPos);
BBNode targetNode = this.grid.NodeFromWorldPoint(targetPos);
if (startNode.IsWalkable && targetNode.IsWalkable) {
BBHeap<BBNode> openSet = new BBHeap<BBNode>(this.grid.MaxSize);
HashSet<BBNode> closedSet = new HashSet<BBNode>();
openSet.Add(startNode);
while (openSet.Count > 0) {
BBNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode) {
isPathSuccess = true;
break;
}
foreach (BBNode neighbour in grid.GetNeighbours(currentNode)) {
if (!neighbour.IsWalkable || closedSet.Contains(neighbour)) { continue; }
if (grid.IsDiagonalMove(currentNode, neighbour)) {
if (!grid.IsDiagonalMoveValid(currentNode, neighbour, bound)) {
continue;
}
}
// Cost is the cost to the current position + cost to next node + penalty
int costToNeighbour = currentNode.GCost + this.GetDistance(currentNode, neighbour) + neighbour.TerrainPenalty;
if (costToNeighbour < neighbour.GCost || !openSet.Contains(neighbour)) {
neighbour.GCost = costToNeighbour;
neighbour.HCost = this.GetDistance(neighbour, targetNode);
neighbour.Parent = currentNode;
if (!openSet.Contains(neighbour)) {
openSet.Add (neighbour);
} else {
openSet.UpdateItem(neighbour);
}
}
}
}
yield return null;
if (isPathSuccess) {
waypoints = this.RetracePath(startNode, targetNode);
}
this.requestManager.FinishedProcessingPath(waypoints, isPathSuccess);
}
}
public List<BBNode> GetNeighbours(BBNode node)
{
List<BBNode> neighbhours = new List<BBNode>();
// Checks adjacent nodes and adds them to list if within grid
for (int x = -1; x <= 1; x++) {
for (int y = -1; y <= 1; y++) {
if (x == 0 && y == 0) { continue; }
BBCoordinate checkCoordinate = new BBCoordinate(node.Coordinate.x + x, node.Coordinate.y + y);
if (this.IsCoordinateInBounds(checkCoordinate)) {
neighbhours.Add(grid[checkCoordinate.x, checkCoordinate.y]);
}
}
}
return neighbhours;
}
public void Init(GameObject originObject)
{
base.Init(originObject);
this.gridController = GameObject.FindGameObjectWithTag(BBSceneConstants.layoutControllerTag).GetComponent<BBGridController>();
this.originCoordinate = this.gridController.CoordinateFromWorldPoint(originObject.transform.position);
this.path = new BBCoordinate[] {
BBCoordinate.CompoundCoordinate(new BBCoordinate[] { this.originCoordinate, new BBCoordinate(1, 1) }),
BBCoordinate.CompoundCoordinate(new BBCoordinate[] { this.originCoordinate, new BBCoordinate(0, 2) }),
BBCoordinate.CompoundCoordinate(new BBCoordinate[] { this.originCoordinate, new BBCoordinate(-1, 1) }),
BBCoordinate.CompoundCoordinate(new BBCoordinate[] { this.originCoordinate, new BBCoordinate(-2, 0) }),
BBCoordinate.CompoundCoordinate(new BBCoordinate[] { this.originCoordinate, new BBCoordinate(-1, -1) }),
BBCoordinate.CompoundCoordinate(new BBCoordinate[] { this.originCoordinate, new BBCoordinate(0, -2) }),
BBCoordinate.CompoundCoordinate(new BBCoordinate[] { this.originCoordinate, new BBCoordinate(1, -1) })
};
transform.GetComponent<BBPathFollow>().Path = this.path;
}
// Used in conjunction with NearestOpenNode to reduce boilerplate
private void OpenNodeHelper(BBCoordinate coordinate, HashSet<BBCoordinate> searchedCoordinates, Queue<BBCoordinate> coordinatesToSearch)
{
if (!searchedCoordinates.Contains(coordinate) && !coordinatesToSearch.Contains(coordinate)) {
if (this.IsCoordinateInBounds(coordinate)) {
coordinatesToSearch.Enqueue(coordinate);
}
}
}
// Determine valid nodes
private bool IsCoordinateInGridBounds(BBCoordinate coordinate)
{
return !(coordinate.x >= this.gridWorldSize.x|| coordinate.y >= this.gridWorldSize.y);
}
void Awake()
{
this.nodeDiameter = this.nodeRadius * 2;
this.gridSize = new BBCoordinate(Mathf.RoundToInt(this.gridWorldSize.x / this.nodeDiameter), Mathf.RoundToInt(this.gridWorldSize.y / this.nodeDiameter));
this.CreateGrid();
}
public Vector3 WorldPointFromCoordinate(BBCoordinate coordinate)
{
Vector3 center = transform.position;
return new Vector3(center.x + (coordinate.x - (this.gridWorldSize.x / 2)) + this.nodeRadius, center.y + (coordinate.y - (this.gridWorldSize.y / 2)) + this.nodeRadius, BBSceneConstants.collidedGround);
}
// If number is not needed, just feed it a negative number. This will be the convention we use instead of assigning it random values
public SpawnUnit(BBSpriteFactory.Sprite sprite, float spawnDelaySeconds, float spawnOffsetSeconds, BBCoordinate coordinate, bool atOpenCoordinate, BBEntityStats stats, int number)
{
this.sprite = sprite;
this.spawnSeconds = spawnDelaySeconds + spawnOffsetSeconds;
this.coordinate = coordinate;
this.atOpenCoordinate = atOpenCoordinate;
this.stats = stats;
this.number = number;
}
public static void RequestPath(Vector3 pathStart, Vector3 pathEnd, BBCoordinate bound, Action<Vector3[], bool> callback)
{
PathRequest newRequest = new PathRequest(pathStart, pathEnd, bound, callback);
BBPathRequestController.instance.pathRequestQueue.Enqueue(newRequest);
BBPathRequestController.instance.TryProcessNext();
}
public BBNode NearestOpenNode(BBCoordinate coordinate)
{
if (this.IsOpenNodeAtCoordinate(coordinate)) { return this.NodeFromCoordinate(coordinate); }
Queue<BBCoordinate> coordinatesToSearch = new Queue<BBCoordinate>();
coordinatesToSearch.Enqueue(coordinate);
// BFS for open node
HashSet<BBCoordinate> searchedCoordinates = new HashSet<BBCoordinate>();
while (coordinatesToSearch.Count > 0) {
BBCoordinate coor = coordinatesToSearch.Dequeue();
if (this.IsOpenNodeAtCoordinate(coor)) {
return this.NodeFromCoordinate(coor);
}
BBCoordinate left = new BBCoordinate(coor.x - 1, coor.y);
this.OpenNodeHelper(left, searchedCoordinates, coordinatesToSearch);
BBCoordinate top = new BBCoordinate(coor.x, coor.y + 1);
this.OpenNodeHelper(top, searchedCoordinates, coordinatesToSearch);
BBCoordinate right = new BBCoordinate(coor.x + 1, coor.y);
this.OpenNodeHelper(right, searchedCoordinates, coordinatesToSearch);
BBCoordinate bottom = new BBCoordinate(coor.x, coor.y - 1);
this.OpenNodeHelper(bottom, searchedCoordinates, coordinatesToSearch);
searchedCoordinates.Add(coor);
}
return null;
}
public BBCoordinate NearestOpenCoordinate(BBCoordinate coordinate)
{
BBNode nearestOpenNode = this.NearestOpenNode(coordinate);
if (nearestOpenNode != null) {
return nearestOpenNode.Coordinate;
} else {
return null;
}
}
public bool IsOpenNodeAtCoordinate(BBCoordinate coordinate)
{
if (!this.IsCoordinateInBounds(coordinate)) {
return false;
}
BBNode node = this.NodeFromCoordinate(coordinate);
return (node.IsWalkable && node.InhabitedCount == 0);
}
public bool IsNodeAtCoordinate(BBCoordinate coordinate)
{
if (!this.IsCoordinateInBounds(coordinate)) {
return false;
}
BBNode node = this.NodeFromCoordinate(coordinate);
return node.IsWalkable;
}
public void StartFindPath(Vector3 startPos, Vector3 targetPos, BBCoordinate bound)
{
StartCoroutine(this.FindPath (startPos, targetPos, bound));
}
public bool IsCoordinateInBounds(BBCoordinate coordinate)
{
return (coordinate.x >= 0 && coordinate.x < this.gridSize.x) && (coordinate.y >= 0 && coordinate.y < this.gridSize.y);
}
// Checks if adjacent horizontal and vertical nodes would be cut off during a diagonal move
public bool IsDiagonalMoveValid(BBNode startNode, BBNode targetNode, BBCoordinate bound)
{
//Set Indices accordingly and check if valid
int horizontalX = (targetNode.Coordinate.x < startNode.Coordinate.x) ? startNode.Coordinate.x - bound.x : startNode.Coordinate.x + bound.x;
if ((horizontalX < 0) || (horizontalX >= this.gridSize.x)) { return false; }
int verticalY = (targetNode.Coordinate.y < startNode.Coordinate.y) ? startNode.Coordinate.y - bound.y : startNode.Coordinate.y + bound.y;
if ((verticalY < 0) || (verticalY >= this.gridSize.y)) { return false; }
BBCoordinate horizontalIndex = new BBCoordinate(horizontalX, startNode.Coordinate.y);
BBCoordinate verticalIndex = new BBCoordinate(startNode.Coordinate.x, verticalY);
return (grid[horizontalIndex.x, horizontalIndex.y].IsWalkable
&& grid[verticalIndex.x, verticalIndex.y].IsWalkable);
}
// Place wherever you want
public SpawnUnit CreateSpawnUnit(BBSpriteFactory.Sprite sprite, float spawnDelaySeconds, BBCoordinate coordinate, bool atValidCoordinate, BBEntityStats stats, int number)
{
BBNode referencedNode = this.gridController.grid[coordinate.x, coordinate.y];
return new SpawnUnit(sprite, spawnDelaySeconds, this.timer.Seconds, coordinate, atValidCoordinate, stats, number);
}
public BBNode NodeFromCoordinate(BBCoordinate coordinate)
{
return this.grid[coordinate.x, coordinate.y];
}
public SpawnUnit CreateSpawnUnit(BBSpriteFactory.Sprite sprite, float spawnDelaySeconds, BBCoordinate coordinate, bool atValidCoordinate, BBEntityStats stats)
{
return this.CreateSpawnUnit(sprite, spawnDelaySeconds, coordinate, atValidCoordinate, stats, (int)BBSceneConstants.NumberConventions.DEFAULTNUMBER);
}
public void RequestPath(Vector3 startPos, Vector3 targetPos, BBCoordinate bound, float speed)
{
this.targetIndex = 0;
this.speed = speed;
BBPathRequestController.RequestPath(startPos, targetPos, bound, OnPathFound);
}
public BBGroundTile TileAtCoordinate(BBCoordinate coordinate)
{
if (!this.IsNodeAtCoordinate(coordinate)) {
return null;
}
// WorldPointFromCoordinate returns the collided ground. We want where the ground actually is for these calculations
Collider[] colliders = Physics.OverlapSphere(this.WorldPointFromCoordinate(coordinate) - BBSceneConstants.collidedGroundVect, this.nodeRadius - .01f);
foreach (Collider collider in colliders) {
BBGroundTile tile = collider.gameObject.GetComponent<BBGroundTile>();
if (tile != null) {
return tile;
}
}
return null;
}
