//breadth-first fill algorithm, funny note: years ago when I was learning pathfinding I misread the name to be breath-first, hence the name
public static void FillBreath(ref BreathArea breath, ref List <ThingController> monstersList, bool cullByTrueDistance = false)
{
int maxDistance = breath.maxDistance;
int arraySize = breath.size;
Vec2I StartPoint = breath.position;
breath.Invalidate();
if (GetHeat(StartPoint).x == -1)
{
return;
}
//init arrays
bool[,] closedCheck = new bool[arraySize, arraySize];
bool[,] openCheck = new bool[arraySize, arraySize];
//set start point
SingleLinkedList <Vec2I> openList = new SingleLinkedList <Vec2I>();
openList.InsertFront(StartPoint);
openCheck[maxDistance, maxDistance] = true;
breath.exist[maxDistance, maxDistance] = true;
breath.steps[maxDistance, maxDistance] = 0;
breath.distance[maxDistance, maxDistance] = 0;
breath.direction[maxDistance, maxDistance] = 0;
List <ThingController> monsters = new List <ThingController>();
SingleLinkedList <int> randomNeighbors = new SingleLinkedList <int>();
int maxStepDistance = maxDistance * 10;
while (openList.Count > 0)
{
//get top of heap
Vec2I current = openList.RemoveHead();
int ax = current.x - StartPoint.x + maxDistance;
int ay = current.y - StartPoint.y + maxDistance;
int currentDistance = breath.distance[ax, ay];
int currentSteps = breath.steps[ax, ay];
closedCheck[ax, ay] = true;
TheGrid.GetNearbyMonsters(current, 0).Perform((n) => { monsters.Add(n.Data); });
if (cullByTrueDistance)
{
if (currentDistance >= maxStepDistance)
{
continue;
}
}
Vector3 currentHeat = GetHeat(current);
//no propagation through solids
if (currentHeat.x >= 1f)
{
if (current != StartPoint)
{
continue;
}
}
//don't hassle, shuffle
for (int i = 1; i < 9; i++)
{
if (Random.value > .5f)
{
randomNeighbors.InsertFront(i);
}
else
{
randomNeighbors.InsertBack(i);
}
}
while (randomNeighbors.Count > 0)
{
int i = randomNeighbors.RemoveHead();
Vec2I neighbor = current + Vec2I.directions[i];
//calculate array position
int arrayX = neighbor.x - StartPoint.x + maxDistance;
int arrayY = neighbor.y - StartPoint.y + maxDistance;
//cull disallowed
if (AxMath.RogueDistance(neighbor, StartPoint) > maxDistance)
{
continue;
}
if (openCheck[arrayX, arrayY])
{
continue;
}
if (closedCheck[arrayX, arrayY])
{
continue;
}
if (!CanPath(neighbor))
{
continue;
}
openList.InsertBack(neighbor);
openCheck[arrayX, arrayY] = true;
//reverse direction to point towards the source of breath
int p = i + 4;
if (p > 8)
{
p -= 8;
}
breath.exist[arrayX, arrayY] = true;
breath.direction[arrayX, arrayY] = p;
breath.distance[arrayX, arrayY] = currentDistance + StepDistance(i);
breath.steps[arrayX, arrayY] = currentSteps + 1;
}
}
monstersList = monsters;
}
//same as previous, but take into account movement cost of cells
public static void FillPlayerBreath(ref BreathArea breath, ref List <ThingController> monstersList, bool cullByTrueDistance = false)
{
int maxDistance = breath.maxDistance;
int arraySize = breath.size;
Vec2I StartPoint = breath.position;
breath.Invalidate();
monstersList.Clear();
if (GetHeat(StartPoint).x == -1)
{
return;
}
//init arrays
bool[,] closedCheck = new bool[arraySize, arraySize];
bool[,] openCheck = new bool[arraySize, arraySize];
PathStep[,] openArray = new PathStep[arraySize, arraySize];
//set start point
BinaryHeap <PathStep> openList = new BinaryHeap <PathStep>(arraySize * arraySize);
openList.Add(new PathStep(StartPoint, 0));
openCheck[maxDistance, maxDistance] = true;
breath.exist[maxDistance, maxDistance] = true;
breath.steps[maxDistance, maxDistance] = 0;
breath.distance[maxDistance, maxDistance] = 0;
breath.direction[maxDistance, maxDistance] = 0;
List <ThingController> monsters = new List <ThingController>();
int maxStepDistance = maxDistance * 10;
while (openList.ItemCount > 0)
{
//get top of heap
PathStep current = openList.RemoveFirst();
int ax = current.position.x - StartPoint.x + maxDistance;
int ay = current.position.y - StartPoint.y + maxDistance;
int currentDistance = breath.distance[ax, ay];
int currentSteps = breath.steps[ax, ay];
closedCheck[ax, ay] = true;
TheGrid.GetNearbyMonsters(current.position, 0).Perform((n) => { monsters.Add(n.Data); });
if (cullByTrueDistance)
{
if (currentDistance >= maxStepDistance)
{
continue;
}
}
Vector3 currentHeat = GetHeat(current.position);
//no propagation through solids
if (currentHeat.x >= 1f)
{
if (current.position != StartPoint)
{
continue;
}
}
for (int i = 1; i < 9; i++)
{
Vec2I neighbor = current.position + Vec2I.directions[i];
//calculate array position
int arrayX = neighbor.x - StartPoint.x + maxDistance;
int arrayY = neighbor.y - StartPoint.y + maxDistance;
//cull disallowed
if (AxMath.RogueDistance(neighbor, StartPoint) > maxDistance)
{
continue;
}
if (openCheck[arrayX, arrayY])
{
continue;
}
if (closedCheck[arrayX, arrayY])
{
continue;
}
if (!CanPath(neighbor))
{
continue;
}
if (HasLedge(current.position, neighbor, false))
{
continue;
}
//calculate cost
int travelCost = current.travelCost + GetTravelCost(neighbor);
int heuristic = AxMath.WeightedDistance(neighbor, StartPoint);
int fullCost = travelCost + heuristic;
//reverse direction to point towards the source of breath
int p = i + 4;
if (p > 8)
{
p -= 8;
}
//check if we can update parent to better
if (openCheck[arrayX, arrayY])
{
if (openArray[arrayX, arrayY].travelCost > travelCost)
{
openArray[arrayX, arrayY].travelCost = travelCost;
openArray[arrayX, arrayY].heuristic = heuristic;
openArray[arrayX, arrayY].fullCost = fullCost;
breath.direction[arrayX, arrayY] = p;
breath.distance[arrayX, arrayY] = currentDistance + StepDistance(i);
breath.steps[arrayX, arrayY] = currentSteps + 1;
openList.UpdateItem(openArray[arrayX, arrayY]);
continue;
}
else
{
continue;
}
}
//priority sorted by heap
PathStep step = new PathStep(neighbor, travelCost, heuristic);
openList.Add(step);
openArray[arrayX, arrayY] = step;
openCheck[arrayX, arrayY] = true;
breath.exist[arrayX, arrayY] = true;
breath.direction[arrayX, arrayY] = p;
breath.distance[arrayX, arrayY] = currentDistance + StepDistance(i);
breath.steps[arrayX, arrayY] = currentSteps + 1;
}
}
monstersList = monsters;
}
public static void FillBreath(HeatmapNode startNode, ref BreathArea breath)
{
int maxDistance = breath.maxDistance;
int arraySize = breath.size;
//start sanity check
if (startNode == null)
{
return;
}
if (startNode.neighbors.Count == 0)
{
return;
}
breath.startPos = startNode.gridPos;
breath.Invalidate();
//init arrays
bool[,] closedCheck = new bool[arraySize, arraySize];
bool[,] openCheck = new bool[arraySize, arraySize];
PathStep[,] openArray = new PathStep[arraySize, arraySize];
//set start point
BinaryHeap <PathStep> openList = new BinaryHeap <PathStep>(arraySize * arraySize);
openList.Add(new PathStep(startNode, 0));
openCheck[maxDistance, maxDistance] = true;
//add start breath to area
breath.exist[maxDistance, maxDistance] = true;
breath.steps[maxDistance, maxDistance] = 0;
breath.travelCost[maxDistance, maxDistance] = 0;
breath.parent[maxDistance, maxDistance] = breath.startPos;
while (openList.ItemCount > 0)
{
//get top of heap
PathStep current = openList.RemoveFirst();
int cx = current.node.gridPos.x - breath.startPos.x + maxDistance;
int cy = current.node.gridPos.y - breath.startPos.y + maxDistance;
int currentCost = breath.travelCost[cx, cy];
int currentSteps = breath.steps[cx, cy];
closedCheck[cx, cy] = true;
if (currentSteps >= maxDistance)
{
continue;
}
//shuffle the neighbor nodes to give some noise
List <HeatmapNode> shuffled = new List <HeatmapNode>();
foreach (HeatmapNode neighbor in current.node.neighbors)
{
shuffled.Insert(Random.Range(0, shuffled.Count), neighbor);
}
foreach (HeatmapNode neighbor in shuffled)
{
//calculate array position
int nx = neighbor.gridPos.x - breath.startPos.x + maxDistance;
int ny = neighbor.gridPos.y - breath.startPos.y + maxDistance;
//cull disallowed
if (Vec2I.Max(neighbor.gridPos, breath.startPos) > maxDistance)
{
continue;
}
if (closedCheck[nx, ny])
{
continue;
}
if (openCheck[nx, ny])
{
continue;
}
if (!CanTravel(current.node, neighbor))
{
continue;
}
//calculate cost
int travelCost = current.travelCost + TravelCostBreath(current.node, neighbor);
//priority sorted by heap
PathStep step = new PathStep(neighbor, travelCost, 0);
openList.Add(step);
openArray[nx, ny] = step;
openCheck[nx, ny] = true;
//add breath to area
breath.exist[nx, ny] = true;
breath.parent[nx, ny] = current.node.gridPos;
breath.travelCost[nx, ny] = travelCost;
breath.steps[nx, ny] = currentSteps + 1;
}
}
}