public LRTASD(bool[][] walls, Vector2 origin, Vector2 destiny)
{
this.destiny = destiny;
populateWeights(walls, origin, destiny);
nodoActual = new NodoGrafo(origin, pesos[(int)origin.x][(int)origin.y]);
grafoB = new GrafoBusqueda(nodoActual);
}
/*private Vector2 nextMove(int[] minimalSpace, Vector2 position)
* {
*
* int minorCostIndex = -1, minorCost = int.MaxValue;
* for (int i = 0; i < minimalSpace.Length; i++)
* {
* if (minimalSpace[i] < minorCost)
* {
* minorCost = minimalSpace[i];
* minorCostIndex = i;
* }
* }
* switch (minorCostIndex)
* {
* case 0: return new Vector2(0, 1);
* case 1: return new Vector2(1, 0);
* case 2: return new Vector2(0, -1);
* case 3: return new Vector2(-1, 0);
* default: return new Vector2(0, 0);
* }
* }*/
protected internal override Steering getSteering(PersonajeBase personaje)
{
Vector2 personajePos = SimManagerLRTA.positionToGrid(personaje.posicion);
if (pesos[(int)Math.Round(personajePos.x)][(int)Math.Round(personajePos.y)] != 0)
{
if (setup || pursueSD.finishedLinear)
{
minimalSpace(personajePos);
NodoGrafo nextNode = nextMove();
pesos[(int)personajePos.x][(int)personajePos.y] = pesos[(int)nextNode.posicionGrid.x][(int)nextNode.posicionGrid.y] + 1;
personaje.fakeMovement.posicion = SimManagerLRTA.gridToPosition(nextNode.posicionGrid);
personaje.fakeMovement.transform.position = SimManagerLRTA.gridToPosition(nextNode.posicionGrid);
//personaje.innerDetector = 0.5f;
personaje.fakeMovement.innerDetector = personaje.innerDetector;
pursueSD.target = personaje.fakeMovement;
setup = false;
nodoActual = nextNode;
}
return(pursueSD.getSteering(personaje));
}
else
{
_finishedLinear = true;
return(new Steering());
}
}
protected override List <NodoGrafo> generateMinimalSpace(NodoGrafo ng)
{
List <NodoGrafo> listanodos = new List <NodoGrafo>();
//cruz
listanodos.Add(new NodoGrafo(new Vector2(ng.posicionGrid.x, ng.posicionGrid.y + 1), pesos[(int)ng.posicionGrid.x][(int)ng.posicionGrid.y + 1]));
listanodos.Add(new NodoGrafo(new Vector2(ng.posicionGrid.x + 1, ng.posicionGrid.y), pesos[(int)ng.posicionGrid.x + 1][(int)ng.posicionGrid.y]));
listanodos.Add(new NodoGrafo(new Vector2(ng.posicionGrid.x, ng.posicionGrid.y - 1), pesos[(int)ng.posicionGrid.x][(int)ng.posicionGrid.y - 1]));
listanodos.Add(new NodoGrafo(new Vector2(ng.posicionGrid.x - 1, ng.posicionGrid.y), pesos[(int)ng.posicionGrid.x - 1][(int)ng.posicionGrid.y]));
return(listanodos);
}
/*
* private Vector2 nextMove(int[] minimalSpace, Vector2 position)
* {
*
* int minorCostIndex = -1, minorCost = int.MaxValue;
* float minorDistance = float.MaxValue;
* for (int i=0; i < minimalSpace.Length; i++)
* {
* if (minimalSpace[i]!=int.MaxValue && minimalSpace[i] <= minorCost)
* {
* float distance=0;
* switch (i)
* {
* case 0: distance = (destiny - (position+ new Vector2(0, 1))).magnitude;
* break;
* case 1:
* distance = (destiny - (position + new Vector2(1, 0))).magnitude;
* break;
* case 2:
* distance = (destiny - (position + new Vector2(0, -1))).magnitude;
* break;
* case 3:
* distance = (destiny - (position + new Vector2(-1, 0))).magnitude;
* break;
* default:
* break;
* }
* if (minimalSpace[i] < minorCost)
* {
* minorCost = minimalSpace[i];
* minorCostIndex = i;
* minorDistance = distance;
* }else if (distance<minorDistance)
* {
* minorCost = minimalSpace[i];
* minorCostIndex = i;
* minorDistance = distance;
* }
* }
* }
*
* switch (minorCostIndex)
* {
* case 0: return new Vector2(0, 1);
* case 1: return new Vector2(1, 0);
* case 2: return new Vector2(0, -1);
* case 3: return new Vector2(-1, 0);
* default: return new Vector2(0, 0);
* }
* }
*/
protected NodoGrafo nextMove()
{
int minorCost = int.MaxValue;
NodoGrafo nextNode = null;
foreach (NodoGrafo nodito in nodoActual.adyacentes)
{
if (nodito.peso < minorCost)
{
nextNode = nodito;
minorCost = nodito.peso;
}
}
return(nextNode);
}
protected abstract List <NodoGrafo> generateMinimalSpace(NodoGrafo nd);
public GrafoBusqueda(NodoGrafo _raiz)
{
raiz = _raiz;
}
public Arco(int peso, NodoGrafo nodo)
{
this.peso = peso;
this.nodo = nodo;
}
