public bool CheckForBlock(Vector3 pos)
{
float gridSize = BuildManager.GetGridSize();
NodeTD targetNode = PathFinder.GetNearestNode(pos, nodeGraph);
for (int i = 0; i < subPathList.Count; i++)
{
SubPath subPath = subPathList[i];
if (Vector3.Distance(pos, subPath.startN.pos) < gridSize / 2)
{
return(true);
}
if (Vector3.Distance(pos, subPath.endN.pos) < gridSize / 2)
{
return(true);
}
if (subPath.IsNodeInPath(targetNode))
{
subPath.altPath = PathFinder.ForceSearch(subPath.startN, subPath.endN, targetNode, nodeGraph);
if (subPath.altPath.Count == 0)
{
return(true);
}
}
}
nextBuildNode = targetNode;
return(false);
}
public SearchQueue(NodeTD n1, NodeTD n2, NodeTD[] g, SetPathCallbackTD func)
{
startNode = n1;
endNode = n2;
graph = g;
callBackFunc = func;
}
public static void GetPath(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
if (instance == null)
{
Init();
}
instance._GetPath(startN, endN, graph, callBackFunc);
}
public void UnbuildTower(NodeTD node)
{
node.walkable = true;
for (int i = 0; i < subPathList.Count; i++)
{
subPathList[i].SearchNewPath(nodeGraph);
}
}
public List <Vector3> altPath = new List <Vector3>(); //for checking if there's any block
public void Init(PlatformTD platform)
{
parentPlatform = platform;
startN = PathFinder.GetNearestNode(connectStart.position, platform.GetNodeGraph());
endN = PathFinder.GetNearestNode(connectEnd.position, platform.GetNodeGraph());
path.Add((connectStart.position + connectEnd.position) / 2);
SearchNewPath(platform.GetNodeGraph());
}
public void _GetPath(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
if (!searching)
{
//commence search
StartCoroutine(_SearchRoutine(startN, endN, graph, callBackFunc));
}
else
{
//if a serach is in progress, put current request into the queue list
SearchQueue q = new SearchQueue(startN, endN, graph, callBackFunc);
searchQueueList.Add(q);
}
}
public bool IsNodeInPath(NodeTD node)
{
float gridSize = BuildManager.GetGridSize();
for (int i = 0; i < path.Count; i++)
{
float dist = Vector3.Distance(node.pos, path[i]);
if (dist < gridSize * .85f)
{
return(true);
}
}
return(false);
}
void ResetSubPath(SubPath platformSubPath)
{
if (dummyT == null)
{
dummyT = new GameObject().transform;
}
Quaternion rot = Quaternion.LookRotation(subPath[subWaypointID] - thisT.position);
dummyT.rotation = rot;
dummyT.position = thisT.position;
Vector3 pos = dummyT.TransformPoint(0, 0, BuildManager.GetGridSize() / 2);
NodeTD startN = PathFinder.GetNearestNode(pos, platformSubPath.parentPlatform.GetNodeGraph());
PathFinder.GetPath(startN, platformSubPath.endN, platformSubPath.parentPlatform.GetNodeGraph(), this.SetSubPath);
}
public static NodeTD GetNearestNode(Vector3 point, NodeTD[] graph, int searchMode)
{
float dist = Mathf.Infinity;
float currentNearest = Mathf.Infinity;
NodeTD nearestNode = null;
foreach (NodeTD node in graph)
{
if (searchMode == 0)
{
dist = Vector3.Distance(point, node.pos);
if (dist < currentNearest)
{
currentNearest = dist;
nearestNode = node;
}
}
else if (searchMode == 1)
{
if (node.walkable)
{
dist = Vector3.Distance(point, node.pos);
if (dist < currentNearest)
{
currentNearest = dist;
nearestNode = node;
}
}
}
else if (searchMode == 2)
{
if (!node.walkable)
{
dist = Vector3.Distance(point, node.pos);
if (dist < currentNearest)
{
currentNearest = dist;
nearestNode = node;
}
}
}
}
return(nearestNode);
}
public void BuildTower(Vector3 pos, UnitTower tower)
{
//pathfinding related code, only call if this platform is walkable;
if (!walkable)
{
return;
}
if (tower.type != _TowerType.Mine)
{
NodeTD node = PathFinder.GetNearestNode(pos, nodeGraph);
node.walkable = false;
tower.SetPlatform(this, node);
//if the node has been check before during CheckForBlock(), just use the altPath
if (node == nextBuildNode)
{
for (int i = 0; i < subPathList.Count; i++)
{
if (subPathList[i].IsNodeInPath(node))
{
subPathList[i].SwitchToSubPath();
}
}
return;
}
for (int i = 0; i < subPathList.Count; i++)
{
if (subPathList[i].IsNodeInPath(node))
{
subPathList[i].SearchNewPath(nodeGraph);
}
}
}
}
//make cause system to slow down, use with care
public static List <Vector3> ForceSearch(NodeTD startN, NodeTD endN, NodeTD blockN, NodeTD[] graph, int footprint = -1)
{
if (blockN != null)
{
blockN.walkable = false;
}
bool pathFound = true;
int searchCounter = 0; //used to count the total amount of node that has been searched
List <NodeTD> closeList = new List <NodeTD>();
NodeTD[] openList = new NodeTD[graph.Length];
List <int> openListRemoved = new List <int>();
int openListCounter = 0;
NodeTD currentNode = startN;
float currentLowestF = Mathf.Infinity;
int id = 0; //use element num of the node with lowest score in the openlist during the comparison process
int i = 0; //universal int value used for various looping operation
while (true)
{
if (currentNode == endN)
{
break;
}
closeList.Add(currentNode);
currentNode.listState = _ListStateTD.Close;
currentNode.ProcessNeighbour(endN);
foreach (NodeTD neighbour in currentNode.neighbourNode)
{
if (neighbour.listState == _ListStateTD.Unassigned && neighbour.walkable)
{
neighbour.listState = _ListStateTD.Open;
if (openListRemoved.Count > 0)
{
openList[openListRemoved[0]] = neighbour;
openListRemoved.RemoveAt(0);
}
else
{
openList[openListCounter] = neighbour;
openListCounter += 1;
}
}
}
currentNode = null;
currentLowestF = Mathf.Infinity;
id = 0;
for (i = 0; i < openListCounter; i++)
{
if (openList[i] != null)
{
if (openList[i].scoreF < currentLowestF)
{
currentLowestF = openList[i].scoreF;
currentNode = openList[i];
id = i;
}
}
}
if (currentNode == null)
{
pathFound = false;
break;
}
openList[id] = null;
openListRemoved.Add(id);
searchCounter += 1;
}
List <Vector3> p = new List <Vector3>();
if (pathFound)
{
while (currentNode != null)
{
p.Add(currentNode.pos);
currentNode = currentNode.parent;
}
p = InvertArray(p);
p = SmoothPath(p);
}
if (blockN != null)
{
blockN.walkable = true;
}
ResetGraph(graph);
return(p);
}
IEnumerator _SearchRoutine(NodeTD startN, NodeTD endN, NodeTD[] graph, SetPathCallbackTD callBackFunc)
{
//mark that a serac has started, any further query will be queued
searching = true;
bool pathFound = true;
int searchCounter = 0; //used to count the total amount of node that has been searched
int loopCounter = 0; //used to count how many node has been search in the loop, if it exceed a value, bring it to the next frame
//float LoopTime=Time.realtimeSinceStartup;
//closelist, used to store all the node that are on the path
List <NodeTD> closeList = new List <NodeTD>();
//openlist, all the possible node that yet to be on the path, the number can only be as much as the number of node in the garph
NodeTD[] openList = new NodeTD[graph.Length];
//an array use to record the element number in the open list which is empty after the node is removed to be use as currentNode,
//so we can use builtin array with fixed length for openlist, also we can loop for the minimal amount of node in every search
List <int> openListRemoved = new List <int>();
//current count of elements that are occupied in openlist, openlist[n>openListCounter] are null
int openListCounter = 0;
//set start as currentNode
NodeTD currentNode = startN;
//use to compare node in the openlist has the lowest score, alwyas set to Infinity when not in used
float currentLowestF = Mathf.Infinity;
int id = 0; //use element num of the node with lowest score in the openlist during the comparison process
int i = 0; //universal int value used for various looping operation
//loop start
while (true)
{
//if we have reach the destination
if (currentNode == endN)
{
break;
}
//for gizmo debug purpose
//currentNodeBeingProcess=currentNode;
//move currentNode to closeList;
closeList.Add(currentNode);
currentNode.listState = _ListStateTD.Close;
//loop through the neighbour of current loop, calculate score and stuff
currentNode.ProcessNeighbour(endN);
//put all neighbour in openlist
foreach (NodeTD neighbour in currentNode.neighbourNode)
{
if (neighbour.listState == _ListStateTD.Unassigned && neighbour.walkable)
{
//set the node state to open
neighbour.listState = _ListStateTD.Open;
//if there's an open space in openlist, fill the space
if (openListRemoved.Count > 0)
{
openList[openListRemoved[0]] = neighbour;
//remove the number from openListRemoved since this element has now been occupied
openListRemoved.RemoveAt(0);
}
//else just stack on it and increase the occupication counter
else
{
openList[openListCounter] = neighbour;
openListCounter += 1;
}
}
}
//clear the current node, before getting a new one, so we know if there isnt any suitable next node
currentNode = null;
//get the next point from openlist, set it as current point
//just loop through the openlist until we reach the maximum occupication
//while that, get the node with the lowest score
currentLowestF = Mathf.Infinity;
id = 0;
for (i = 0; i < openListCounter; i++)
{
if (openList[i] != null)
{
if (openList[i].scoreF < currentLowestF)
{
currentLowestF = openList[i].scoreF;
currentNode = openList[i];
id = i;
}
}
}
//if there's no node left in openlist, path doesnt exist
if (currentNode == null)
{
pathFound = false;
break;
}
//remove the new currentNode from openlist
openList[id] = null;
//put the id into openListRemoved so we know there's an empty element that can be filled in the next loop
openListRemoved.Add(id);
//increase the counter
searchCounter += 1;
loopCounter += 1;
//if exceed the search limit per frame, bring the search to the next frame
if (loopCounter > ScanNodeLimitPerFrame)
{
loopCounter = 0; //reset the loopCounter for the next frame
yield return(null);
}
}
//trace back the path through closeList
List <Vector3> p = new List <Vector3>();
if (pathFound)
{
//track back the node's parent to form a path
while (currentNode != null)
{
p.Add(currentNode.pos);
currentNode = currentNode.parent;
}
//since the path is now tracked from endN ot startN, invert the list
p = InvertArray(p);
p = SmoothPath(p);
}
callBackFunc(p);
//clear searching so indicate the search has end and a new serach can be called
searching = false;
ResetGraph(graph);
}
public void SetPlatform(PlatformTD platform, NodeTD node)
{
occupiedPlatform = platform;
occupiedNode = node;
}
public static NodeTD[] GenerateNode(PlatformTD platform, float heightOffset)
{
if (instance == null)
{
Init();
}
Transform platformT = platform.thisT;
float gridSize = BuildManager.GetGridSize();
float scaleX = platform.thisT.localScale.x;
float scaleZ = platform.thisT.localScale.z;
int countX = (int)(scaleX / gridSize);
int countZ = (int)(scaleZ / gridSize);
float x = -scaleX / 2 / scaleX;
float z = -scaleZ / 2 / scaleZ;
Vector3 point = platformT.TransformPoint(new Vector3(x, 0, z));
thisT.position = point;
thisT.rotation = platformT.rotation;
thisT.position = thisT.TransformPoint(new Vector3(gridSize / 2, heightOffset, gridSize / 2));
NodeTD[] nodeGraph = new NodeTD[countZ * countX];
int counter = 0;
for (int i = 0; i < countZ; i++)
{
for (int j = 0; j < countX; j++)
{
Vector3 pos = thisT.position;
pos.y = pos.y + 5000;
LayerMask mask = 1 << LayerManager.LayerTower();
RaycastHit hit1;
if (Physics.Raycast(pos, Vector3.down, out hit1, Mathf.Infinity, ~mask))
{
nodeGraph[counter] = new NodeTD(new Vector3(pos.x, hit1.point.y + heightOffset, pos.z), counter);
}
else
{
nodeGraph[counter] = new NodeTD(pos, counter);
nodeGraph[counter].walkable = false;
}
counter += 1;
thisT.position = thisT.TransformPoint(new Vector3(gridSize, 0, 0));
}
thisT.position = thisT.TransformPoint(new Vector3(-(countX) * gridSize, 0, gridSize));
}
thisT.position = Vector3.zero;
thisT.rotation = Quaternion.identity;
counter = 0;
foreach (NodeTD cNode in nodeGraph)
{
if (cNode.walkable)
{
//check if there's anything within the point
LayerMask mask = 1 << LayerManager.LayerPlatform();
mask |= 1 << LayerManager.LayerTower();
if (LayerManager.LayerTerrain() >= 0)
{
mask |= 1 << LayerManager.LayerTerrain();
}
Collider[] cols = Physics.OverlapSphere(cNode.pos, gridSize * 0.45f, ~mask);
if (cols.Length > 0)
{
cNode.walkable = false;
counter += 1;
}
}
}
float neighbourDistance = 0;
float neighbourRange;
if (instance.connectDiagonalNeighbour)
{
neighbourRange = gridSize * 1.5f;
}
else
{
neighbourRange = gridSize * 1.1f;
}
counter = 0;
//assign the neighouring node for each node in the grid
foreach (NodeTD currentNode in nodeGraph)
{
//only if that node is walkable
if (currentNode.walkable)
{
//create an empty array
List <NodeTD> neighbourNodeList = new List <NodeTD>();
List <float> neighbourCostList = new List <float>();
NodeTD[] neighbour = new NodeTD[8];
int id = currentNode.ID;
if (id > countX - 1 && id < countX * countZ - countX)
{
//print("middle rows");
if (id != countX)
{
neighbour[0] = nodeGraph[id - countX - 1];
}
neighbour[1] = nodeGraph[id - countX];
neighbour[2] = nodeGraph[id - countX + 1];
neighbour[3] = nodeGraph[id - 1];
neighbour[4] = nodeGraph[id + 1];
neighbour[5] = nodeGraph[id + countX - 1];
neighbour[6] = nodeGraph[id + countX];
if (id != countX * countZ - countX - 1)
{
neighbour[7] = nodeGraph[id + countX + 1];
}
}
else if (id <= countX - 1)
{
//print("first row");
if (id != 0)
{
neighbour[0] = nodeGraph[id - 1];
}
if (nodeGraph.Length > id + 1)
{
neighbour[1] = nodeGraph[id + 1];
}
if (countZ > 0)
{
if (nodeGraph.Length > id + countX - 1)
{
neighbour[2] = nodeGraph[id + countX - 1];
}
if (nodeGraph.Length > id + countX)
{
neighbour[3] = nodeGraph[id + countX];
}
if (nodeGraph.Length > id + countX + 1)
{
neighbour[4] = nodeGraph[id + countX + 1];
}
}
}
else if (id >= countX * countZ - countX)
{
//print("last row");
neighbour[0] = nodeGraph[id - 1];
if (id != countX * countZ - 1)
{
neighbour[1] = nodeGraph[id + 1];
}
if (id != countX * (countZ - 1))
{
neighbour[2] = nodeGraph[id - countX - 1];
}
neighbour[3] = nodeGraph[id - countX];
neighbour[4] = nodeGraph[id - countX + 1];
}
//scan through all the node in the grid
foreach (NodeTD node in neighbour)
{
//if this the node is not currentNode
if (node != null && node.walkable)
{
//if this node is within neighbour node range
neighbourDistance = GetHorizontalDistance(currentNode.pos, node.pos);
if (neighbourDistance < neighbourRange)
{
//if nothing's in the way between these two
LayerMask mask = 1 << LayerManager.LayerPlatform();
mask |= 1 << LayerManager.LayerTower();
if (!Physics.Linecast(currentNode.pos, node.pos, ~mask))
{
//if the slop is not too steep
//if(Mathf.Abs(GetSlope(currentNode.pos, node.pos))<=maxSlope){
//add to list
//if(!node.walkable) Debug.Log("error");
neighbourNodeList.Add(node);
neighbourCostList.Add(neighbourDistance);
//}//else print("too steep");
} //else print("something's in the way");
} //else print("out of range "+neighbourDistance);
} //else print("unwalkable");
}
//set the list as the node neighbours array
currentNode.SetNeighbour(neighbourNodeList, neighbourCostList);
//if(neighbourNodeList.Count==0)
//Debug.Log("no heighbour. node number "+counter+" "+neighbourNodeList.Count);
}
counter += 1;
}
return(nodeGraph);
}
public void ProcessNeighbour(NodeTD node)
{
ProcessNeighbour(node.pos);
}
