public PathTileNode(Vector2Int loc, PathTileNode previous, int spacesSoFar, float heuristic_tile = 0.0f, float heuristic_euclidean = 0.0f)
{
pos = loc;
parent = previous;
cost = spacesSoFar;
heuristic_tileDistance = heuristic_tile;
heuristic_euclideanDistance = heuristic_euclidean;
}
//Override equals. Required for searching a list for the node
public override bool Equals(object obj)
{
PathTileNode node = (PathTileNode)obj;
if (node.pos == null)
{
return(false);
}
return(pos == node.pos);
}
static public List <Vector2Int> AStar_SameRoom(Vector2Int start, Vector2Int finish)
{
if (!GridManager.Instance.isWalkableTile(finish))
{
Debug.LogError("End is unreachable");
return(null);
}
open.Clear();
closed.Clear();
List <Vector2Int> path = new List <Vector2Int>();
PathTileNode startNode = new PathTileNode(start, null, 0, tileDistance(start, finish), euclideanDistance(start, finish));
open.Add(startNode);
PathTileNode currentNode = open[0];
int giveUpCounter = 0;
bool endFound = false;
while (open.Count > 0 && !endFound && giveUpCounter < 1000)
{
//Debug.Log("Checking node: " + currentNode.pos.x + "," + currentNode.pos.y);
currentNode = open[0];
open.RemoveAt(0);
closed.Add(currentNode);
endFound = addNeighbors(currentNode, finish);
giveUpCounter++;
}
if (!endFound)
{
Debug.LogError("No end found");
//no path found to finish!
return(null); //FIXIT
}
//Follow the finish back to the start
currentNode = open[0];
while (currentNode.parent != null)
{
path.Insert(0, currentNode.pos); //always insert at 0
currentNode = currentNode.parent;
}
//path.Insert(0, currentNode.pos); //same as start. might not need to add this
return(path);
}
static int insertionSort_Node(PathTileNode newNode, int minIndex, int maxIndex)
{
//Check if done
if (minIndex == maxIndex)
{
if (newNode < open[minIndex])
{
return(minIndex);
}
else
{
return(minIndex + 1);
}
}
else
{
//Get the halfway point
int divider = Mathf.FloorToInt((maxIndex - minIndex) / 2.0f) + minIndex;
if (newNode > open[divider])
{
//Recursively check the next middlepoint
return(insertionSort_Node(newNode, divider + 1, maxIndex));
}
else if (newNode < open[divider])
{
if (divider == minIndex)
{
return(minIndex);
}
else
{
return(insertionSort_Node(newNode, minIndex, divider - 1));
}
}
return(divider);
}
}
//Function returns a bool: whether or not the end has been found
static bool addNeighbors(PathTileNode current, Vector2Int finish)
{
//GridManager grid = (GridManager)GameObject.FindObjectOfType(typeof(GridManager)); //FIXIT make sure this works
//y+1
Vector2Int checkLoc = current.pos;
checkLoc.y = checkLoc.y + 1;
if (GridManager.Instance.isWalkableTile(checkLoc))
{
PathTileNode upNode = new PathTileNode(checkLoc, current, current.cost + 1, tileDistance(checkLoc, finish), euclideanDistance(checkLoc, finish));
if (checkLoc == finish)
{
open.Clear();
open.Add(upNode);
return(true);
}
else if (!closed.Contains(upNode))
{
if (open.Count == 0)
{
open.Add(upNode);
}
else
{
open.Insert(insertionSort_Node(upNode, 0, open.Count - 1), upNode);
}
}
}
//x+1
checkLoc = current.pos;
checkLoc.x = checkLoc.x + 1;
if (GridManager.Instance.isWalkableTile(checkLoc))
{
PathTileNode rightNode = new PathTileNode(checkLoc, current, current.cost + 1, tileDistance(checkLoc, finish), euclideanDistance(checkLoc, finish));
if (checkLoc == finish)
{
open.Clear();
open.Add(rightNode);
return(true);
}
else if (!closed.Contains(rightNode))
{
if (open.Count == 0)
{
open.Add(rightNode);
}
else
{
open.Insert(insertionSort_Node(rightNode, 0, open.Count - 1), rightNode);
}
}
}
//y-1
checkLoc = current.pos;
checkLoc.y = checkLoc.y - 1;
if (GridManager.Instance.isWalkableTile(checkLoc))
{
PathTileNode downNode = new PathTileNode(checkLoc, current, current.cost + 1, tileDistance(checkLoc, finish), euclideanDistance(checkLoc, finish));
if (checkLoc == finish)
{
open.Clear();
open.Add(downNode);
return(true);
}
else if (!closed.Contains(downNode))
{
if (open.Count == 0)
{
open.Add(downNode);
}
else
{
open.Insert(insertionSort_Node(downNode, 0, open.Count - 1), downNode);
}
}
}
//x-1
checkLoc = current.pos;
checkLoc.x = checkLoc.x - 1;
if (GridManager.Instance.isWalkableTile(checkLoc))
{
PathTileNode leftNode = new PathTileNode(checkLoc, current, current.cost + 1, tileDistance(checkLoc, finish), euclideanDistance(checkLoc, finish));
if (checkLoc == finish)
{
open.Clear();
open.Add(leftNode);
return(true);
}
else if (!closed.Contains(leftNode))
{
if (open.Count == 0)
{
open.Add(leftNode);
}
else
{
open.Insert(insertionSort_Node(leftNode, 0, open.Count - 1), leftNode);
}
}
}
return(false); //end not found yet
}
