public void Init()
{
f = 0;
g = 0;
h = 0;
parent = null;
node = null;
openList = null;
isClosedFlag = false;
isOpenFlag = false;
isBlockedFlag = false;
isFreeFlag = false;
}
// Takes a look at an adjacent node based on a set direction. Checks if this is open to update it's F value.
// If not, creates a new navwrapper associated with this adjacent node and adds it to the open bins. (after calculating its f value).
private void CheckAdjacent(NavWrapper currentNavWrapper, DiagonalDirectionEnum dir)
{
int offsetx = 0, offsety = 0;
if (layout == GridLayout.CellLayout.Hexagon)
{
Direction.GetOffset(dir, ref offsetx, ref offsety, (currentNavWrapper.node.GetIndex().y % 2) == 0);
}
else
{
Direction.GetOffset(dir, ref offsetx, ref offsety);
}
Vector3Int adjIndex = new Vector3Int(currentNavWrapper.node.GetIndex().x + offsetx, currentNavWrapper.node.GetIndex().y + offsety, Controls.GetTileZpf());
NavNode adjNode;
adjNode = pf.GetNode(adjIndex);
if (adjNode == null || adjNode.IsBlocked())
{
return;
}
if (IsDirectionDiagonal(dir) && AreAdjacentTilesBlocked(currentNavWrapper.node, offsetx, offsety))
{
return;
}
NavWrapper adjNavWrapper = CreateNavWrapper(adjNode);// IsInOpenList(adjNode);
// Check if its in the open list.
if (adjNavWrapper.isOpenFlag)
{
// Recalculate the F cost.
if (currentNavWrapper.f + NavNode.DirectionalGCost(dir) < adjNavWrapper.g)
{
adjNavWrapper.g = currentNavWrapper.g + NavNode.DirectionalGCost(dir) + adjNavWrapper.node.GetMovementPenalty();
adjNavWrapper.f = adjNavWrapper.h + adjNavWrapper.g;
}
}
else
{
adjNavWrapper.parent = currentNavWrapper;
adjNavWrapper.g = currentNavWrapper.g + NavNode.DirectionalGCost(dir) + adjNavWrapper.node.GetMovementPenalty();
adjNavWrapper.h = CalculateHScore(currentNavWrapper.node);
adjNavWrapper.f = adjNavWrapper.h + adjNavWrapper.g;
AddToOpenList(adjNavWrapper); //TODO only add to open list if its f value is less than the f value it was closed with.
//Otherwise could end up recalculating a node that has already been evaluated, but froma worse starting point
}
}
bool AreAdjacentTilesBlocked(NavNode node, int offsetX, int offsetY)
{
Vector3Int adjIndex = new Vector3Int(node.GetIndex().x + offsetX, currentNavWrapper.node.GetIndex().y, Controls.GetTileZpf());
NavNode adjNode = pf.GetNode(adjIndex);
if (adjNode == null || adjNode.IsBlocked())
{
return(true);
}
adjIndex.x -= offsetX;
adjIndex.y += offsetY;
adjNode = pf.GetNode(adjIndex);
if (adjNode == null || adjNode.IsBlocked())
{
return(true);
}
return(false);
}
private bool CreatePath(NavNode startNode, NavNode endNode)
{
if (startNode == null || endNode == null || startNode.IsIgnorable() || endNode.IsIgnorable())
{
// The start and/or end tile are invalid.
return(false);
}
endWrapper = CreateNavWrapper(endNode);
currentNavWrapper = CreateNavWrapper(startNode);
AddToOpenList(currentNavWrapper);
isProcessingFlag = true;
hasFailedFlag = false;
pf.GetPathQueries().AddLast(this);
return(true);
}
// Takes a look at an adjacent node based on a set direction. Checks if this is open to update it's F value.
// If not, creates a new navwrapper associated with this adjacent node and adds it to the open bins. (after calculating its f value).
private void CheckAdjacent(NavWrapper currentNavWrapper, DiagonalDirectionEnum dir)
{
int offsetx = 0, offsety = 0;
if (layout == GridLayout.CellLayout.Hexagon)
{
Direction.GetOffset(dir, ref offsetx, ref offsety, (currentNavWrapper.node.GetIndex().y % 2) == 0);
}
else
{
Direction.GetOffset(dir, ref offsetx, ref offsety);
}
Vector3Int adjIndex = new Vector3Int(currentNavWrapper.node.GetIndex().x + offsetx, currentNavWrapper.node.GetIndex().y + offsety, 0);
NavNode adjNode;
adjNode = pf.GetNode(adjIndex);
if (adjNode == null || adjNode.IsIgnorable())
{
return;
}
NavWrapper adjNavWrapper = CreateNavWrapper(adjNode);// IsInOpenList(adjNode);
// Check if its in the open list.
if (adjNavWrapper.isOpenFlag)
{
// Recalculate the F cost.
if (currentNavWrapper.f + NavNode.DirectionalGCost(dir) < adjNavWrapper.g)
{
adjNavWrapper.g = currentNavWrapper.g + NavNode.DirectionalGCost(dir) + adjNavWrapper.node.GetMovementPenalty();
adjNavWrapper.f = adjNavWrapper.h + adjNavWrapper.g;
}
}
else
{
adjNavWrapper.parent = currentNavWrapper;
adjNavWrapper.g = currentNavWrapper.g + NavNode.DirectionalGCost(dir) + adjNavWrapper.node.GetMovementPenalty();
adjNavWrapper.h = CalculateHScore(currentNavWrapper.node);
adjNavWrapper.f = adjNavWrapper.h + adjNavWrapper.g;
AddToOpenList(adjNavWrapper);
}
}
// Takes the inputted coordinates and finds the nodes associated with them. Then begins to create a path.
public bool StartPath(Vector3Int startPos, Vector3Int endPos, List <Vector3Int> refPath, bool searchUsesDiagonals, int amortizeoverride = 0)
{
// If this Path is currently processing another path then reset it.
if (isProcessingFlag)
{
Reset();
}
useDiagonals = searchUsesDiagonals;
NavNode startNode = pf.GetNode(startPos);
NavNode endNode = pf.GetNode(endPos);
refList = refPath;
if (amortizeoverride > 0)
{
overridedMaxAmortizevalue = amortizeoverride;
}
return(CreatePath(startNode, endNode));
}
// Gets the next point in the path point list based on the passed in index.
// This point is returned by reference as a world position (nextPoint). Returns true if there is a valid next point.
// If it reaches the end or the path has failed it returns false.
// If the next point in the point list is blocked a new path is generated.
public bool GetNextPointIndex(ref Vector3 nextPoint, ref int index)
{
//TODO make it so we can check multiple points ahead to regenerate a path if
//there is a blockage coming sooner than the very next node
// We couldn't generate a path OR we are still waiting for the path to be generated.
if (!IsGenerated())
{
return(false);
}
index++;
if (index < pathpoints.Count)
{
// Check to see if this node is blocked at this point.
Vector3 worldpos = GetPathPointWorld(index);
NavNode node = pf.GetNode(worldpos);
if (node.IsBlocked())
{
// Create a new path if the previous path is no longe usuable.
if (isdynamicflag)
{
CreatePath(GetPathPointWorld(index - 1), endpos, searchWithDiagonals, true);
}
else
{
CreatePath(startpos, endpos, searchWithDiagonals, false);
}
return(false);
}
else
{
// We successfully found the next point.
nextPoint = worldpos;
return(true);
}
}
// We reached the end of our path.
return(false);
}
// Gets the previous point in the path point list based on the passed in index.
// This point is returned by reference as a world position (previousPoint). Returns true if there is a valid next point.
// If it reaches the end or the path has failed it returns false.
// If the next point in the point list is blocked a new path is generated.
public bool GetPreviousPointIndex(ref Vector3 previousPoint, ref int index)
{
// We couldn't generate a path OR we are still waiting for a path.
if (!IsGenerated())
{
return(false);
}
index--;
if (index >= 0)
{
// Check to see if this node is blocked at this point.
Vector3 worldpos = GetPathPointWorld(index);
NavNode node = pf.GetNode(worldpos);
if (node.IsBlocked()) // Create a new path if the previous path is no longer usuable.
{
if (isdynamicflag)
{
CreatePath(GetPathPointWorld(index + 1), startpos, searchWithDiagonals, true);
}
else
{
CreatePath(endpos, startpos, searchWithDiagonals, false);
}
return(false);
}
else
{
previousPoint = worldpos;
return(true);
}
}
return(false);
}
// Calculates the manhatten distance from the current node to the end node.
private int CalculateHScore(NavNode currentNode)
{
return(Mathf.Abs(currentNode.GetIndex().x - endWrapper.node.GetIndex().x) + Mathf.Abs(currentNode.GetIndex().y - endWrapper.node.GetIndex().y));
}
