void AddOpenNode(int x, int y)
{
Vector2Int searchPos = new Vector2Int(x, y);
int posType = MapDataController.map[pos.x, pos.y].GetType();
if (posType == 0)
{
CoordinateRouteInfo cri = new CoordinateRouteInfo(pos, searchPos, goal, null);
openNodes.Add(cri);
}
}
public CoordinateRouteInfo(Vector2Int start, Vector2Int pos, Vector2Int goal, CoordinateRouteInfo prevNode)
{
this.pos = pos;
SetHCost(goal);
if (prevNode != null)
{
this.prevNode = prevNode;
SetGCost(start);
}
if (prevNode == null)
{
gCost = 0;
}
SetFCost();
//Debug.Log("POS " + pos);
//Debug.Log("Start " + start);
//Debug.Log("Goal " + goal);
}
void BuildRouteBackwards()
{
int i = 0;
if (current.prevNode != null)
{
goal = current.prevNode.pos;
routeBackwards.Add(current.prevNode);
}
if (current.prevNode == null)
{
routeBackwards.Add(current);
}
while (routeBackwards[i].prevNode != null)
{
CoordinateRouteInfo prev = routeBackwards[i].prevNode;
routeBackwards.Add(prev);
i++;
}
}
void AddClosedNode(CoordinateRouteInfo current)
{
closedNodes.Add(current);
}
void FindPath()
{
MapCoordinate[,] map = MapDataController.map;
AddOpenNode(pos.x, pos.y);
current = openNodes[0];
int searches = 0;
while (openNodes.Count > 0)
{
if (MapDataController.plrSurrounded == true)
{
break;
}
int IndexWithLowestFCost = SearchForLowestOpenFCost();
current = openNodes[IndexWithLowestFCost];
RemoveOpenNode(IndexWithLowestFCost);
AddClosedNode(current);
if (closedNodes.Count >= (MapDataController.area))
{
waiting = true;
return;
}
if (current.pos == goal)
{
SetRoute();
return;
}
if (searches > (MapDataController.area / 4))
{
SetRoute();
break;
}
for (int i = 1; i <= 9; i++)
{
if (i == 5)
{
i++;
}
Vector2Int neightbourPos = GetNeightbour(current.pos, i);
//print(current.pos + " Current");
//print(neightbourPos + " Neightbour " + i);
CoordinateRouteInfo neightbour = new CoordinateRouteInfo(pos, neightbourPos, goal, current);
bool SkipToNextNeightbour = false;
if (SkipToNextNeightbour == false)
{
//if neightbour is not traversable
int neightbourPosType = map[neightbourPos.x, neightbourPos.y].GetType();
PlayerInfo neightbourPosNpc = map[neightbourPos.x, neightbourPos.y].GetNpc();
int neightbourTeam = 2;
if (neightbourPosNpc != null)
{
neightbourTeam = neightbourPosNpc.GetTeam();
}
if (neightbourPosType == 1 || (neightbourPosNpc != null && neightbourTeam == 2))
{
SkipToNextNeightbour = true;
}
if (SkipToNextNeightbour == false)
{
//or neightbour is in closed
bool neightbourIsInClosed = CheckIfNeightboorIsInClosed(neightbourPos);
if (neightbourIsInClosed)
{
SkipToNextNeightbour = true;
}
}
}
bool stepTwoControl = false;
if (stepTwoControl == false && SkipToNextNeightbour == false)
{
//if new path to neightbour is shorter
if (neightbour.fCost < current.fCost)
{
openNodes.Add(neightbour);
stepTwoControl = true;
}
if (stepTwoControl == false)
{
//or neightbour is not in open
bool neightbourIsInOpen = CheckIfNeightboorIsInOpen(neightbourPos);
if (!neightbourIsInOpen)
{
openNodes.Add(neightbour);
stepTwoControl = true;
}
}
}
if (showSearch)
{
MarkopenNodessWithColor();
MarkClosedNodessWithColor();
MarkCurrentNodeWithColor();
}
totalSearch++;
searches++;
}
}
}
