public void SetEnd(int endX, int endY, HallwayType[,] map)
{
float dX = endX - x;
float dY = endY - y;
this.endX = endX;
this.endY = endY;
baseCost = 1;
if (x > 0 && (map[x - 1, y] != HallwayType.None && map[x - 1, y] != HallwayType.Invalid))
{
baseCost = 100;
}
else if (y > 0 && (map[x, y - 1] != HallwayType.None && map[x, y - 1] != HallwayType.Invalid))
{
baseCost = 100;
}
else if (x + 1 < map.GetLength(0) && (map[x + 1, y] != HallwayType.None && map[x + 1, y] != HallwayType.Invalid))
{
baseCost = 100;
}
else if (y + 1 < map.GetLength(1) && (map[x, y + 1] != HallwayType.None && map[x, y + 1] != HallwayType.Invalid))
{
baseCost = 100;
}
cost = baseCost;
minCostToStart = null;
manhattenDistanceToEnd = Mathf.Abs(dX + dY);
nearestToStart = null;
}
private void BuildShortestPath(List <HallwayPoint> list, HallwayPoint node)
{
if (node.nearestToStart == null)
{
return;
}
list.Add(node.nearestToStart);
BuildShortestPath(list, node.nearestToStart);
}
public void CalculateCost(HallwayPoint from)
{
var extraCost = 0;
if (from.nearestToStart != null)
{
if (DirectionFrom(from) != from.DirectionFrom(from.nearestToStart))
{
extraCost = 100;
}
}
cost = baseCost + extraCost;
}
public HallwayGenerator(HallwayType[,] map)
{
this.map = map;
width = map.GetLength(0);
height = map.GetLength(1);
points = new HallwayPoint[width, height];
for (int x = 0; x < map.GetLength(0); x++)
{
for (int y = 0; y < map.GetLength(1); y++)
{
points[x, y] = new HallwayPoint(x, y);
}
}
}
private int DirectionFrom(HallwayPoint from)
{
if (x > from.x)
{
return(0);
}
else if (x < from.x)
{
return(1);
}
else if (y < from.y)
{
return(2);
}
else
{
return(3);
}
}
private void AStarSearch(HallwayPoint start, HallwayPoint end)
{
bool[,] visited = new bool[width, height];
start.minCostToStart = 0;
var priorityQueue = new List <HallwayPoint> {
start
};
do
{
priorityQueue = priorityQueue.OrderBy(x => x.minCostToStart + x.manhattenDistanceToEnd).ToList();
var hallwayPoint = priorityQueue.First();
priorityQueue.Remove(hallwayPoint);
hallwayPoint.ConnectedHallwayPoints(map, points).ForEach(p => p.CalculateCost(hallwayPoint));
foreach (var connectedHallwayPoint in hallwayPoint.ConnectedHallwayPoints(map, points).OrderBy(x => x.cost).ToList())
{
if (visited[connectedHallwayPoint.x, connectedHallwayPoint.y])
{
continue;
}
if (connectedHallwayPoint.minCostToStart == null ||
hallwayPoint.minCostToStart + connectedHallwayPoint.cost < connectedHallwayPoint.minCostToStart)
{
connectedHallwayPoint.minCostToStart = hallwayPoint.minCostToStart + connectedHallwayPoint.cost;
connectedHallwayPoint.nearestToStart = hallwayPoint;
if (!priorityQueue.Contains(connectedHallwayPoint))
{
priorityQueue.Add(connectedHallwayPoint);
}
}
}
visited[hallwayPoint.x, hallwayPoint.y] = true;
if (hallwayPoint.x == end.x && hallwayPoint.y == end.y)
{
return;
}
} while (priorityQueue.Any());
}
