public static IEnumerator CalculatePath(PathNode startNode, PathNode endNode, PathNode[] allNodes, StairNode[] stairNodes, Action <Vector3[], bool> callback)
{
bool success = false;
bool reverse = true;
// if start and end are on different floors, find nearest stair to the node on top floor
if (startNode.pos.z != endNode.pos.z)
{
// floors are going down in z, so its inverted
bool topToDown = startNode.pos.z < endNode.pos.z;
if (!topToDown)
{
reverse = false;
}
PathNode topNode = topToDown ? startNode : endNode;
PathNode botNode = !topToDown ? startNode : endNode;
foreach (StairNode stairNode in stairNodes)
{
// for each stair node, find if there is a path between start/end node (which ever is on top floor)
// if stair Node not on same floor as topNode, continue
if (stairNode.pos.z != topNode.pos.z)
{
continue;
}
else
{
success = CalculateFlatPath(topNode, stairNode, allNodes);
}
if (success)
{
stairNode.neighborStair.parent = stairNode;
success = CalculateFlatPath(stairNode.neighborStair, botNode, allNodes);
}
if (success)
{
break;
}
}
}
else
{
success = CalculateFlatPath(startNode, endNode, allNodes);
}
yield return(null);
if (success)
{
callback(RetracePath(startNode, endNode, reverse), true);
}
else
{
callback(new Vector3[0], false);
}
}
private static Vector2[] RetracePath(PathNode startNode, PathNode endNode)
{
var path = new List <Vector2>();
var currentNode = endNode;
while (currentNode != startNode)
{
path.Add(currentNode.pos);
currentNode = currentNode.parent;
}
path.Add(startNode.pos);
path.Reverse();
return(path.ToArray());
}
// calculates path between start and end assuming they are on same floor
private static bool CalculateFlatPath(PathNode startNode, PathNode endNode, PathNode[] allNodes)
{
var openList = new Heap <PathNode>(allNodes.Length);
var closedList = new HashSet <PathNode>();
var success = false;
openList.Add(startNode);
while (openList.Count > 0)
{
var currentNode = openList.RemoveFirst();
closedList.Add(currentNode);
if (currentNode == endNode)
{
success = true;
break;
}
foreach (PathNode neighbour in currentNode.links)
{
if (closedList.Contains(neighbour))
{
continue;
}
var costToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
if (costToNeighbour < neighbour.gCost || !openList.Contains(neighbour))
{
neighbour.gCost = costToNeighbour;
neighbour.hCost = GetDistance(neighbour, endNode);
neighbour.parent = currentNode;
if (!openList.Contains(neighbour))
{
openList.Add(neighbour);
openList.UpdateItem(neighbour);
}
}
}
}
return(success);
}
private static Vector3[] RetracePath(PathNode startNode, PathNode endNode, bool reverse)
{
List <Vector3> path = new List <Vector3>();
PathNode currentNode = reverse ? endNode : startNode;
PathNode retraceEndNode = reverse ? startNode : endNode;
while (currentNode != retraceEndNode)
{
path.Add(currentNode.pos);
currentNode = currentNode.parent;
}
path.Add(retraceEndNode.pos);
if (reverse)
{
path.Reverse();
}
return(path.ToArray());
}
private static float GetDistance(PathNode a, PathNode b)
{
return((a.pos - b.pos).magnitude);
}
//A* implementation
public static IEnumerator CalculatePath(PathNode startNode, PathNode endNode, PathNode[] allNodes, Action <Vector2[], bool> callback)
{
#if DEBUG
Stopwatch sw = new Stopwatch();
sw.Start();
#endif
var openList = new Heap <PathNode>(allNodes.Length);
var closedList = new HashSet <PathNode>();
var success = false;
openList.Add(startNode);
while (openList.Count > 0)
{
var currentNode = openList.RemoveFirst();
closedList.Add(currentNode);
if (currentNode == endNode)
{
#if DEBUG
sw.Stop();
UnityEngine.Debug.Log("Path Found: " + sw.ElapsedMilliseconds + " ms.");
#endif
success = true;
break;
}
foreach (var neighbour in currentNode.links.Select(index => allNodes[index]))
{
if (closedList.Contains(neighbour))
{
continue;
}
var costToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
if (costToNeighbour < neighbour.gCost || !openList.Contains(neighbour))
{
neighbour.gCost = costToNeighbour;
neighbour.hCost = GetDistance(neighbour, endNode);
neighbour.parent = currentNode;
if (!openList.Contains(neighbour))
{
openList.Add(neighbour);
openList.UpdateItem(neighbour);
}
}
}
}
yield return(null);
if (success)
{
callback(RetracePath(startNode, endNode), true);
}
else
{
callback(new Vector2[0], false);
}
}
