public List <Vector3> Path(Vector3 startPos, Vector3 targetPos)
{
//Can I see the exit
float exitDistance = Vector3.Distance(startPos, targetPos);
if (exitDistance > .7f)
{
exitDistance -= .7f;
}
if (!Physics.Raycast(startPos, targetPos - startPos, exitDistance)) //found path because physics.raycast returned false (did not hit collider)
{
List <Vector3> path = new List <Vector3>();
path.Add(startPos);
path.Add(targetPos);
return(path);
}
GameObject[] nodes = GameObject.FindGameObjectsWithTag(nodeTag); //find all the nodes and put them into an array
List <Point> points = new List <Point>(); //create new a list of Points
foreach (GameObject node in nodes)
{
Point currNode = new Point(node.transform.position);
points.Add(currNode); //fill up the list of points (positions of nodes)
}
Point endPoint = new Point(targetPos, 'e');
/***Connect them together***/
foreach (Point point in points) //Could be optimized to not go through each connection twice
{
foreach (Point point2 in points)
{
float distance = Vector3.Distance(point.GetPos(), point2.GetPos());
if (!Physics.Raycast(point.GetPos(), point2.GetPos() - point.GetPos(), distance))
{
//Debug.DrawRay(point.GetPos(), point2.GetPos() - point.GetPos(), Color.white, 1);
point.AddConnectedPoint(point2);
}
}
float distance2 = Vector3.Distance(targetPos, point.GetPos());
if (!Physics.Raycast(targetPos, point.GetPos() - targetPos, distance2))
{
//Debug.DrawRay(targetPos, point.GetPos() - targetPos, Color.white, 1);
point.AddConnectedPoint(endPoint);
}
}
//points startPos can see
foreach (Point point in points)
{
float distance = Vector3.Distance(startPos, point.GetPos());
if (!Physics.Raycast(startPos, point.GetPos() - startPos, distance))
{
//Debug.DrawRay(startPos, point.GetPos() - startPos, Color.white, 1);
Point startPoint = new Point(startPos, 's');
point.SetPrevPoint(startPoint);
point.SetState('o');
point.SetScore(distance + Vector3.Distance(targetPos, point.GetPos()));
}
}
//Go through until we find the exit or run out of connections
bool searchedAll = false;
bool foundEnd = false;
while (!searchedAll)
{
searchedAll = true;
List <Point> foundConnections = new List <Point>();
foreach (Point point in points)
{
if (point.GetState() == 'o')
{
searchedAll = false;
List <Point> potentials = point.GetConnectedPoints();
foreach (Point potentialPoint in potentials)
{
if (potentialPoint.GetState() == 'u')
{
potentialPoint.AddPotentialPrevPoint(point);
foundConnections.Add(potentialPoint);
potentialPoint.SetScore(Vector3.Distance(startPos, potentialPoint.GetPos()) + Vector3.Distance(targetPos, potentialPoint.GetPos()));
}
else if (potentialPoint.GetState() == 'e')
{
//Found the exit
foundEnd = true;
endPoint.AddConnectedPoint(point);
}
}
point.SetState('c');
}
}
foreach (Point connection in foundConnections)
{
connection.SetState('o');
//Find lowest scoring prev point
float lowestScore = 0;
Point bestPrevPoint = null;
bool first = true;
foreach (Point prevPoints in connection.GetPotentialPrevPoints())
{
if (first)
{
lowestScore = prevPoints.GetScore();
bestPrevPoint = prevPoints;
first = false;
}
else
{
if (lowestScore > prevPoints.GetScore())
{
lowestScore = prevPoints.GetScore();
bestPrevPoint = prevPoints;
}
}
}
connection.SetPrevPoint(bestPrevPoint);
}
}
if (foundEnd)
{
//trace back finding shortest route (lowest score)
List <Point> shortestRoute = null;
float lowestScore = 0;
bool firstRoute = true;
foreach (Point point in endPoint.GetConnectedPoints())
{
float score = 0;
bool tracing = true;
Point currPoint = point;
List <Point> route = new List <Point>();
route.Add(endPoint);
while (tracing)
{
route.Add(currPoint);
if (currPoint.GetState() == 's')
{
if (firstRoute)
{
shortestRoute = route;
lowestScore = score;
firstRoute = false;
}
else
{
if (lowestScore > score)
{
shortestRoute = route;
lowestScore = score;
}
}
tracing = false;
break;
}
score += currPoint.GetScore();
currPoint = currPoint.GetPrevPoint();
}
}
shortestRoute.Reverse();
List <Vector3> path = new List <Vector3>();
foreach (Point point in shortestRoute)
{
path.Add(point.GetPos());
}
return(path);
}
else
{
return(null);
}
}
public List<Vector3> Path(Vector3 startPos, Vector3 targetPos, float zDiff = -1)
{
//Can I see the exit
float exitDistance = Vector3.Distance(startPos, targetPos);
//RaycastHit hitInfo;
Physics.Raycast(startPos, targetPos, exitDistance, collisionMask);
if (!Physics.Raycast(startPos, targetPos - startPos, exitDistance))
{
List<Vector3> path = new List<Vector3>();
path.Add(startPos);
path.Add(targetPos);
//if (zDiff == -1 || targetPos.z - startPos.z <= zDiff)
// else
// path.Add(new Vector3(startPos.x, startPos.y, targetPos.z));
return path;
}
GameObject[] nodes = GameObject.FindGameObjectsWithTag(nodeTag);
List<Point> points = new List<Point>();
foreach (GameObject node in nodes)
{
if (!node.transform.IsChildOf(gameObject.transform))
{
Point currNode = new Point(node.transform.position);
points.Add(currNode);
}
}
Point endPoint = new Point(targetPos, 'e');
/***Connect them together***/
foreach (Point point in points) //Could be optimized to not go through each connection twice
{
foreach (Point point2 in points)
{
float distance = Vector3.Distance(point.GetPos(), point2.GetPos());
if (!Physics.Raycast(point.GetPos(), point2.GetPos() - point.GetPos(), distance))
{
//Debug.DrawRay(point.GetPos(), point2.GetPos() - point.GetPos(), Color.white, 1);
point.AddConnectedPoint(point2);
}
}
float distance2 = Vector3.Distance(targetPos, point.GetPos());
if (!Physics.Raycast(targetPos, point.GetPos() - targetPos, distance2))
{
//Debug.DrawRay(targetPos, point.GetPos() - targetPos, Color.white, 1);
point.AddConnectedPoint(endPoint);
}
}
//points startPos can see
foreach (Point point in points)
{
float distance = Vector3.Distance(startPos, point.GetPos());
if (!Physics.Raycast(startPos, point.GetPos() - startPos, distance))
{
//Debug.DrawRay(startPos, point.GetPos() - startPos, Color.white, 1);
Point startPoint = new Point(startPos, 's');
point.SetPrevPoint(startPoint);
point.SetState('o');
point.SetScore(distance + Vector3.Distance(targetPos, point.GetPos()));
}
}
//Go through until we find the exit or run out of connections
bool searchedAll = false;
bool foundEnd = false;
while (!searchedAll)
{
searchedAll = true;
List<Point> foundConnections = new List<Point>();
foreach (Point point in points)
{
if (point.GetState() == 'o')
{
searchedAll = false;
List<Point> potentials = point.GetConnectedPoints();
foreach (Point potentialPoint in potentials)
{
if (potentialPoint.GetState() == 'u')
{
potentialPoint.AddPotentialPrevPoint(point);
foundConnections.Add(potentialPoint);
potentialPoint.SetScore(Vector3.Distance(startPos, potentialPoint.GetPos()) + Vector3.Distance(targetPos, potentialPoint.GetPos()));
}
else if (potentialPoint.GetState() == 'e')
{
//Found the exit
foundEnd = true;
endPoint.AddConnectedPoint(point);
}
}
point.SetState('c');
}
}
foreach (Point connection in foundConnections)
{
connection.SetState('o');
//Find lowest scoring prev point
float lowestScore = 0;
Point bestPrevPoint = null;
bool first = true;
foreach (Point prevPoints in connection.GetPotentialPrevPoints())
{
if (first)
{
lowestScore = prevPoints.GetScore();
bestPrevPoint = prevPoints;
first = false;
}
else
{
if (lowestScore > prevPoints.GetScore())
{
lowestScore = prevPoints.GetScore();
bestPrevPoint = prevPoints;
}
}
}
connection.SetPrevPoint(bestPrevPoint);
}
}
if (foundEnd)
{
//trace back finding shortest route (lowest score)
List<Point> shortestRoute = null;
float lowestScore = 0;
bool firstRoute = true;
foreach (Point point in endPoint.GetConnectedPoints())
{
float score = 0;
bool tracing = true;
Point currPoint = point;
List<Point> route = new List<Point>();
route.Add(endPoint);
while (tracing)
{
route.Add(currPoint);
if (currPoint.GetState() == 's')
{
if (firstRoute)
{
shortestRoute = route;
lowestScore = score;
firstRoute = false;
}
else
{
if (lowestScore > score)
{
shortestRoute = route;
lowestScore = score;
}
}
tracing = false;
break;
}
score += currPoint.GetScore();
currPoint = currPoint.GetPrevPoint();
}
}
shortestRoute.Reverse();
List<Vector3> path = new List<Vector3>();
foreach (Point point in shortestRoute)
{
path.Add(point.GetPos());
}
return path;
}
else
{
List<Vector3> path = new List<Vector3>();
path.Add(startPos);
path.Add(targetPos);
return path;
}
}
public List<Vector3> Path(Vector3 startPos, Vector3 targetPos)
{
//Can I see the target
float targetDistance = Vector3.Distance(startPos, targetPos);
//if the target and start are the same then just return path with the two nodes
if (!Physics.Raycast(startPos, targetPos - startPos, targetDistance))
{
List<Vector3> path = new List<Vector3>();
path.Add(startPos);
path.Add(targetPos);
return path;
}
//find all the nodes with the specified nodeTag
GameObject[] nodes = GameObject.FindGameObjectsWithTag(nodeTag);
//create new class list
List<Point> path_points = new List<Point>();
foreach (GameObject n in nodes)
{
Point currNode = new Point(n.transform.position);
path_points.Add(currNode);
}
Point endPoint = new Point(targetPos, "end");
foreach(Point p in path_points)
{
foreach (Point p2 in path_points)
{
float distance = Vector3.Distance(p.GetPos(), p2.GetPos());
if (!Physics.Raycast(p.GetPos(), p2.GetPos() - p.GetPos(), distance))
{
p.AddConnectedPoint(p2);
}
}
float distance2 = Vector3.Distance(targetPos, p.GetPos());
if (!Physics.Raycast(targetPos, p.GetPos() - targetPos, distance2))
{
p.AddConnectedPoint(endPoint);
}
}
//path_points startPos can see
foreach (Point p in path_points)
{
float distance = Vector3.Distance(startPos, p.GetPos());
if (!Physics.Raycast(startPos, p.GetPos() - startPos, distance))
{
Point startPoint = new Point(startPos, "start");
p.SetPrevPoint(startPoint);
p.SetState("nb");
p.SetScore(distance + Vector3.Distance(targetPos, p.GetPos()));
}
}
//Go through until we find the exit or run out of connections
bool searchedAll = false;
bool targetFound = false;
while(!searchedAll)
{
searchedAll = true;
List<Point> foundConnections = new List<Point>();
foreach (Point point in path_points)
{
if (point.GetState() == "nb")
{
searchedAll = false;
List<Point> potentials = point.GetConnectedpath_points();
foreach (Point potentialPoint in potentials)
{
if (potentialPoint.GetState() == "unset")
{
potentialPoint.AddPotentialPrevPoint(point);
foundConnections.Add(potentialPoint);
potentialPoint.SetScore(Vector3.Distance(startPos, potentialPoint.GetPos()) + Vector3.Distance(targetPos, potentialPoint.GetPos()));
} else if (potentialPoint.GetState() == "end")
{
//Found the exit
targetFound = true;
endPoint.AddConnectedPoint(point);
}
}
point.SetState("useless");
}
}
foreach (Point c in foundConnections)
{
c.SetState("nb");
float lowestScore = 0;
Point bestPrevPoint = null;
bool first = true;
foreach (Point prevpath_points in c.GetPotentialPrevpath_points())
{
if (first)
{
lowestScore = prevpath_points.GetScore();
bestPrevPoint = prevpath_points;
first = false;
} else
{
if (lowestScore > prevpath_points.GetScore())
{
lowestScore = prevpath_points.GetScore();
bestPrevPoint = prevpath_points;
}
}
}
c.SetPrevPoint(bestPrevPoint);
}
}
if (targetFound)
{
List<Point> bestPath = null;
float lowestScore = 0;
bool firstRoute = true;
foreach (Point p in endPoint.GetConnectedpath_points())
{
float score = 0;
bool finding = true;
Point c_Point = p;
List<Point> route = new List<Point>();
route.Add(endPoint);
while(finding)
{
route.Add(c_Point);
if (c_Point.GetState() == "start")
{
if (firstRoute)
{
bestPath = route;
lowestScore = score;
firstRoute = false;
} else
{
if (lowestScore > score)
{
bestPath = route;
lowestScore = score;
}
}
finding = false;
break;
}
score += c_Point.GetScore();
c_Point = c_Point.GetPrevPoint();
}
}
bestPath.Reverse();
List<Vector3> path = new List<Vector3>();
foreach (Point p in bestPath)
{
path.Add(p.GetPos());
}
return path;
}
else
{
return null;
}
}
public List <Vector2> Path(GameObject finder, GameObject target, string _layerName)
{
//Debug.Log ("Finding Path............");
this.layerName = _layerName;
finderBound = new Vector2(finder.GetComponent <BoxCollider2D> ().bounds.extents.x + 0.1f, finder.GetComponent <BoxCollider2D> ().bounds.extents.y + 0.1f);
// startPos = finder.GetComponent<Rigidbody2D>().position;
// targetPos = target.GetComponent<Rigidbody2D> ().position;
startPos = new Vector2(finder.transform.position.x, finder.transform.position.y);
targetPos = new Vector2(target.transform.position.x, target.transform.position.y);
hit = Physics2D.Linecast(startPos + finderBound, targetPos, layerMask);
layerMask = 1 << LayerMask.NameToLayer(layerName);
// if (hit)
// {
// if (hit.transform.name == target.name) {
// Debug.Log ("Hit:" + hit.collider.name);
// Debug.Log ("Adding Path............");
// path.Add (startPos);
// path.Add (targetPos);
// //Debug.DrawLine (path[0], path[1],Color.blue);
// return path;
// } else {
// Debug.DrawLine (startPos, hit.transform.position, Color.red);
// Transform[] childs = hit.transform.gameObject.GetComponentsInChildren<Transform> ();
// for (int i = 0; i < childs.Length; i++) {
// Vector2 nodePos = new Vector2 (childs [i].position.x, childs [i].position.y);
// RaycastHit2D cantSee = (Physics2D.Linecast (startPos + finderBound, childs [i].position));
// Debug.Log (childs [i].tag);
// if (childs [i].CompareTag ("Node") && !cantSee) {
// Debug.DrawLine (startPos, childs [i].transform.position, Color.cyan);
// }
// }
// }
//
// }
if (hit && hit.transform.name == target.name)
{
List <Vector2> path = new List <Vector2>();
path.Add(startPos);
path.Add(targetPos);
return(path);
}
GameObject[] nodes = GameObject.FindGameObjectsWithTag(nodeTag);
List <Point> points = new List <Point> ();
foreach (GameObject node in nodes)
{
if (isInCameraBound(node.transform.position))
{
Point currNode = new Point(node.transform.position);
points.Add(currNode);
}
}
Point endPoint = new Point(targetPos, 'e');
Debug.Log("Number Of Node:" + points.Capacity);
/***Connect them together***/
foreach (Point point in points) //Could be optimized to not go through each connection twice
{
foreach (Point point2 in points)
{
RaycastHit2D hitNode = Physics2D.Linecast(point.GetPos(), point2.GetPos(), layerMask);
if (!hitNode)
{
Debug.DrawLine(point.GetPos(), point2.GetPos(), Color.white);
point.AddConnectedPoint(point2);
}
}
RaycastHit2D hitEndNode = Physics2D.Linecast(point.GetPos(), targetPos, layerMask);
if (hitEndNode.collider.CompareTag(target.gameObject.tag) && hitEndNode)
{
//Debug.Log("I Hit With:......."+hitEndNode.collider.name+" My Pos:"+ point.GetPos().x+":"+point.GetPos().y);
Debug.DrawLine(targetPos, point.GetPos(), Color.white);
point.AddConnectedPoint(endPoint);
}
RaycastHit2D hitStartNode = Physics2D.Linecast(point.GetPos(), startPos, layerMask);
if (hitStartNode.collider.CompareTag(finder.gameObject.tag) && hitStartNode)
{
float distance = Vector2.Distance(point.GetPos(), startPos);
//Debug.Log("I Hit With:......."+hitStartNode.collider.name+" My Pos:"+ point.GetPos().x+":"+point.GetPos().y);
if (hitStartNode.collider.gameObject == finder.gameObject)
{
Debug.DrawLine(point.GetPos(), startPos, Color.white);
Point startPoint = new Point(startPos, 's');
point.SetPrevPoint(startPoint);
point.SetState('o');
point.SetScore(distance + Vector2.Distance(targetPos, point.GetPos()));
}
}
}
//Go through until we find the exit or run out of connections
bool searchedAll = false;
bool foundEnd = false;
while (!searchedAll)
{
searchedAll = true;
List <Point> foundConnections = new List <Point>();
foreach (Point point in points)
{
if (point.GetState() == 'o')
{
//Debug.Log ("Found Open at: "+point.GetPos().x+":"+point.GetPos().y);
searchedAll = false;
List <Point> potentials = point.GetConnectedPoints();
//Debug.Log ("Number of ConnectedPoints: " + potentials.Count);
foreach (Point potentialPoint in potentials)
{
if (potentialPoint.GetState() == 'u')
{
Debug.Log("Found the U...........");
potentialPoint.AddPotentialPrevPoint(point);
foundConnections.Add(potentialPoint);
potentialPoint.SetScore(Vector2.Distance(startPos, potentialPoint.GetPos()) + Vector2.Distance(targetPos, potentialPoint.GetPos()));
}
else if (potentialPoint.GetState() == 'e')
{
Debug.Log("Found the exit..........");
//Found the exit
foundEnd = true;
endPoint.AddConnectedPoint(point);
}
}
point.SetState('c');
}
}
//searchedAll = true;
foreach (Point connection in foundConnections)
{
connection.SetState('o');
//Find lowest scoring prev point
float lowestScore = 0;
Point bestPrevPoint = null;
bool first = true;
foreach (Point prevPoints in connection.GetPotentialPrevPoints())
{
if (first)
{
lowestScore = prevPoints.GetScore();
bestPrevPoint = prevPoints;
first = false;
}
else
{
if (lowestScore > prevPoints.GetScore())
{
lowestScore = prevPoints.GetScore();
bestPrevPoint = prevPoints;
}
}
}
connection.SetPrevPoint(bestPrevPoint);
}
}
if (foundEnd)
{
//trace back finding shortest route (lowest score)
List <Point> shortestRoute = null;
float lowestScore = 0;
bool firstRoute = true;
foreach (Point point in endPoint.GetConnectedPoints())
{
float score = 0;
bool tracing = true;
Point currPoint = point;
List <Point> route = new List <Point>();
route.Add(endPoint);
while (tracing)
{
route.Add(currPoint);
if (currPoint.GetState() == 's')
{
if (firstRoute)
{
shortestRoute = route;
lowestScore = score;
firstRoute = false;
}
else
{
if (lowestScore > score)
{
shortestRoute = route;
lowestScore = score;
}
}
tracing = false;
break;
}
score += currPoint.GetScore();
currPoint = currPoint.GetPrevPoint();
}
}
shortestRoute.Reverse();
List <Vector2> path = new List <Vector2>();
foreach (Point point in shortestRoute)
{
path.Add(point.GetPos());
}
return(path);
}
else
{
return(null);
}
}
