|
public FindPath ( Cell, startCell, Cell, goalCell, List |
||
| startCell | Cell, | |
| goalCell | Cell, | |
| map | List |
|
| targetCellMustBeFree | bool | |
| return | void | |
public void MoveToNode(IGraphNode node, int movementLimit = -1)
{
// Find the shortest route to the destination node, and start moving towards it.
var pathfinder = new AStarPathfinder();
path = pathfinder.FindPath(GetTravelingNode(), node);
if (OnStartMove != null)
{
OnStartMove.Invoke();
}
if (movementLimit > -1 && path.nodes.Count > movementLimit)
{
path.nodes.RemoveRange(movementLimit, path.nodes.Count - movementLimit);
}
if (path != null)
{
pathEnumerator = path.nodes.GetEnumerator();
pathEnumerator.MoveNext();
SetTargetNode(pathEnumerator.Current, false);
}
}
private void Update()
{
if (Input.GetKeyDown(KeyCode.P))
{
MapCreationScript.Instance.ClearWorld();
Vector2Int startPos = new Vector2Int((int)Random.Range(0, 49), (int)Random.Range(0, 49));
Vector2Int targetPos = new Vector2Int((int)Random.Range(0, 49), (int)Random.Range(0, 49));
Cell startCell = world.map.GetCellAt(startPos);
Cell targetCell = world.map.GetCellAt(targetPos);
AStarPathfinder aPathfinder = new AStarPathfinder(world.map);
bool result = aPathfinder.FindPath(startCell, targetCell);
foreach (ANode node in aPathfinder.visited)
{
world.map.GetCellAt(new Vector2Int(node.x, node.y)).GetGameObject().GetComponent <SpriteRenderer>().color = Color.black;
}
foreach (ANode node in aPathfinder.path)
{
world.map.GetCellAt(new Vector2Int(node.x, node.y)).GetGameObject().GetComponent <SpriteRenderer>().color = Color.red;
}
}
}
public static List <Cell> PathToTarget(this GameMap gm, Cell origin, Cell goal)
{
var pathFinder = new AStarPathfinder();
pathFinder.FindPath(origin, goal, gm.CellGameMap, false);
return(pathFinder.CellsFromPath());
}
// Use this for initialization
private void Start()
{
var a = new Node("A");
var b = new Node("B");
var c = new Node("C");
var d = new Node("D");
var e = new Node("E");
var f = new Node("F");
a.AddOutgoingEdge(new Edge(a, b, 4));
a.AddOutgoingEdge(new Edge(a, c, 2));
a.AddOutgoingEdge(new Edge(a, f, 50));
b.AddOutgoingEdge(new Edge(b, c, 5));
b.AddOutgoingEdge(new Edge(b, d, 10));
c.AddOutgoingEdge(new Edge(c, e, 3));
e.AddOutgoingEdge(new Edge(e, d, 4));
d.AddOutgoingEdge(new Edge(d, f, 11));
var pathfinder = new AStarPathfinder <Node>(Heuristic);
var timer = new StopwatchExecutionTimer();
var path = pathfinder.FindPath(a, f);
print(string.Format("In {1} seconds found the following path with cost {0} from A to F:", path.Cost, timer.ElapsedSeconds));
print(path.Edges.Aggregate("", (soFar, edge) => soFar + (soFar.Length > 0 ? " -> " : "") + edge));
}
private static void DifficultyExample()
{
Console.Clear();
Console.Out.WriteLine("Example with movement penalties in map.");
WriteLegend();
var map = new MapSample();
for (var y = 0; y < map.Height / 3; y++)
{
map[map.Width / 3, y].Difficulty = 9;
map[map.Width / 3, map.Height - 1 - y].Difficulty = 9;
map[2 * map.Width / 3, y].Difficulty = 3;
map[2 * map.Width / 3, map.Height - 1 - y].Difficulty = 3;
}
Console.Out.Write(map.ToString());
var pathFinder = new AStarPathfinder(map, 1000, false, new ManhattanDistance());
var from = new PointInt32(0, 0);
var to = new PointInt32(map.Width - 1, map.Height - 1);
Console.Out.WriteLine("Path from {0} to {1}.", from, to);
var path = pathFinder.FindPath(null, from, to);
Console.Out.Write(map.ToString(path, true));
Console.Out.WriteLine("Press any key to continue ...");
Console.In.ReadLine();
}
public IPath FindPath(Location goal)
{
AbstractPathfinder algorithm = new AStarPathfinder();
_path = algorithm.FindPath(_grid, _position, goal);
return(_path);
}
public void Test1()
{
var grid = new AStarGrid(CreateMap(5, 5));
var pathfinder = new AStarPathfinder(grid);
List <Vector2> path = null;
path = pathfinder.FindPath(0, 0, 1, 1);
Assert.AreEqual(1, path.Count);
path = pathfinder.FindPath(0, 0, 2, 2);
Assert.AreEqual(2, path.Count);
path = pathfinder.FindPath(0, 0, 2, 1);
Assert.AreEqual(2, path.Count);
path = pathfinder.FindPath(0, 0, 3, 2);
Assert.AreEqual(3, path.Count);
}
public void StartAStarPathfinder()
{
StopAllCoroutines();
grid.StopAllCoroutines();
StartCoroutine
(aStar.FindPath(grid.WorldPointToNode(pathfinderObject.transform.position),
grid.WorldPointToNode(targetNode.transform.position), s.value));
}
public void Day15Part1()
{
var repair = new OxygenRepairDroid(UserMode.LeastExplored);
var result = repair.Repair();
var pathfinder = new AStarPathfinder();
var path = pathfinder.FindPath(result);
var numberOfCommands = path.Count + 1;
numberOfCommands.Should().Be(238);
}
public void SetPath(GameObject target)
{
if (target != m_target)
{
m_target = target;
List <AstarNode> pathlist = m_finder.FindPath(transform.position, m_target.transform.position);
foreach (AstarNode node in pathlist)
{
m_path.Enqueue(node);
}
currentTarget = GetNextNode();
}
}
private static void SimpleExample()
{
Console.Clear();
Console.Out.WriteLine("Simple example - empty map.");
WriteLegend();
var map = new MapSample();
Console.Out.Write(map.ToString());
var pathFinder = new AStarPathfinder(map, 1000, false, new ManhattanDistance());
var from = new PointInt32(0, 0);
var to = new PointInt32(map.Width - 1, map.Height - 1);
Console.Out.WriteLine("Path from {0} to {1}.", from, to);
var path = pathFinder.FindPath(null, from, to);
Console.Out.Write(map.ToString(path, true));
Console.Out.WriteLine("Press any key to continue ...");
Console.In.ReadLine();
}
public List <NavTile> FindPath(NavTile start, NavTile goal)
{
return(pathfinder.FindPath(start, goal));
}
public void CreatePathways(List <RectRoom> rooms)
{
if (rooms.Count <= 1)
{
return;
}
for (int i = 0; i < rooms.Count - 1; i++)
{
AStarPathfinder pathfinder = new AStarPathfinder(GameManagerScript.Instance.world.map);
RectRoom startRoom = rooms[i];
RectRoom nextRoom = rooms[i + 1];
List <Cell> listOfRoomCellsStart = startRoom.GetListOfRoomCells();
Cell startCell = listOfRoomCellsStart[Random.Range(0, listOfRoomCellsStart.Count - 1)];
List <Cell> listOfRoomCellsNext = nextRoom.GetListOfRoomCells();
Cell nextCell = listOfRoomCellsNext[Random.Range(0, listOfRoomCellsNext.Count - 1)];
bool b = pathfinder.FindPath(startCell, nextCell);
if (!b)
{
continue;
}
for (int j = 0; j < pathfinder.path.Count - 1; j++)
{
Cell node = GameManagerScript.Instance.world.map.GetCellAt(new Vector2Int(pathfinder.path[j].x, pathfinder.path[j].y));
Cell nextNode = GameManagerScript.Instance.world.map.GetCellAt(new Vector2Int(pathfinder.path[j + 1].x, pathfinder.path[j + 1].y));
Vector2Int position1 = node.GetPosition();
Vector2Int position2 = nextNode.GetPosition();
if (listOfRoomCellsStart.Contains(node) || listOfRoomCellsNext.Contains(node))
{
continue;
}
GameManagerScript.Instance.world.map.GetCellAt(position1).GetGameObject().GetComponent <SpriteRenderer>().color = floorColor;
Vector2Int dif = position1 - position2;
if (dif == new Vector2Int(0, 1) || dif == new Vector2Int(0, -1))
{
Vector2Int leftNode = new Vector2Int(position1.x - 1, position1.y);
Vector2Int rightNode = new Vector2Int(position1.x + 1, position1.y);
if (GameManagerScript.Instance.world.map.IsPositionViable(leftNode))
{
GameManagerScript.Instance.world.map.GetCellAt(new Vector2Int(leftNode.x, leftNode.y)).GetGameObject().GetComponent <SpriteRenderer>().color = wallColor;
GameManagerScript.Instance.world.map.GetCellAt(new Vector2Int(leftNode.x, leftNode.y)).SetTerrainType(Cell.TERRAIN_TYPE.wall);
}
if (GameManagerScript.Instance.world.map.IsPositionViable(rightNode))
{
GameManagerScript.Instance.world.map.GetCellAt(new Vector2Int(rightNode.x, rightNode.y)).GetGameObject().GetComponent <SpriteRenderer>().color = wallColor;
GameManagerScript.Instance.world.map.GetCellAt(new Vector2Int(rightNode.x, rightNode.y)).SetTerrainType(Cell.TERRAIN_TYPE.wall);
}
}
}
}
}
public static List<Cell> PathToTarget(this GameMap gm, Cell origin, Cell goal)
{
var pathFinder = new AStarPathfinder();
pathFinder.FindPath(origin, goal, gm.CellGameMap, false);
return pathFinder.CellsFromPath();
}
