Path traceBack(Vector3 a, Vector3 b, pNode node)
{
List <Vector3> p = new List <Vector3>();
p.Add(b);
while (node.prev != null)
{
p.Add(surface.Graph[node.index].Position);
node = node.prev;
}
p.Reverse();
return(new Path(p.ToArray()));
}
void CreateGrid()
{
for (int i = 0; i < nodeRows; i++)
{
for (int j = 0; j < nodeCols; j++)
{
int offSet = 0;
if (j % 2 != 0)
{
//offSet = 1;
}
nodes[i, j] = new pNode();
nodes[i, j].connections = new bool[8];
nodes[i, j].obj = Instantiate(nodePublic, new Vector3(2 * i + offSet - 12, 1 * j - 7, 1), Quaternion.identity);
nodes[i, j].X = i;
nodes[i, j].Y = j;
//nodes[i, j].connectedNodes = new pNode[8];
nodes[i, j].removed = false;
}
}
for (int i = 1; i < nodeRows - 1; i++)
{
for (int j = 1; j < nodeCols - 1; j++)
{
//nodes[i, j].connectedNodes[0] = nodes[i, j + 1];
//nodes[i, j].connectedNodes[1] = nodes[i + 1, j + 1];
//nodes[i, j].connectedNodes[2] = nodes[i + 1, j];
//nodes[i, j].connectedNodes[3] = nodes[i + 1, j - 1];
//nodes[i, j].connectedNodes[4] = nodes[i, j - 1];
//nodes[i, j].connectedNodes[5] = nodes[i - 1, j - 1];
//nodes[i, j].connectedNodes[6] = nodes[i - 1, j];
//nodes[i, j].connectedNodes[7] = nodes[i - 1, j + 1];
}
}
}
public pNode(pNode prev, int index)
{
this.prev = prev;
this.index = index;
}
List <Vector3> CalculatePath(Vector3 playerPos, Vector3 targetPos)
{
List <pNode> openList = new List <pNode>();
List <pNode> closedList = new List <pNode>();
int g = 0;
pNode startNode;
bool startFound = false;
bool targetFound = false;
int nodesDone = 0;
for (int i = 0; i < nodeRows; i++)
{
for (int j = 0; j < nodeCols; j++)
{
//Debug.Log((nodes[i, j].obj.transform.position - playerPos).magnitude);
if ((nodes[i, j].obj.transform.position - playerPos).magnitude < minDist && !startFound)
{
Debug.Log("Found start node");
startFound = true;
startNode = nodes[i, j];
openList.Add(nodes[i, j]);
nodesDone++;
}
if ((nodes[i, j].obj.transform.position - targetPos).magnitude < minDist && !targetFound)
{
Debug.Log("Found target node");
targetFound = true;
targetNode = nodes[i, j];
//openList.Add(nodes[i, j]);
nodesDone++;
}
if (nodesDone >= 2)
{
i = nodeRows;
break;
}
}
}
while (openList.Count > 0)
{
int lowF = 50000; // random large number
pNode current = new pNode(); //node with lowest F
foreach (pNode n in openList)
{
if (n.F < lowF)
{
lowF = n.F;
current = n;
}
closedList.Add(current);
openList.Remove(current);
List <pNode> adj = GetWalkableNodes(current.X, current.Y);
g++;
for (int i = 0; i < adj.Count; i++)
{
if (closedList.Contains(adj[i]))
{
continue;
}
else if (!openList.Contains(adj[i]))
{
adj[i].G = g;
adj[i].H = CalculateHScore(adj[i].X,
adj[i].Y, targetNode.X, targetNode.Y);
adj[i].F = adj[i].G + adj[i].H;
adj[i].parent = current;
}
else
{
// test if using the current G score makes the adjacent square's F score
// lower, if yes update the parent because it means it's a better path
if (g + adj[i].H < adj[i].F)
{
adj[i].G = g;
adj[i].H = CalculateHScore(adj[i].X,
adj[i].Y, targetNode.X, targetNode.Y);
adj[i].F = adj[i].G + adj[i].H;
adj[i].parent = current;
}
}
}
if (closedList[closedList.Count - 1].obj == targetNode.obj)
{
List <Vector3> pathlist = new List <Vector3>();
foreach (pNode p in openList)
{
pathlist.Add(p.obj.transform.position);
}
return(pathlist);
}
}
}
Debug.Log("Dont show this message");
return(null);
}
