// Update is called once per frame
void Update()
{
//update grid
//update graph
//feed graph to character CharList[iChar]
//every char is moving at each frame, but at frame i % numChars,
// char i is moving according to new graph and everyone else is moving according to their 'current' graphs
Transform currChar = characters.transform.GetChild (iChar);
iChar = (iChar + 1) % numChars;
reachGoal = currChar.GetComponent<ReachGoal> ();
Vector3 start = currChar.transform.position;
Vector3 end = goal.transform.position;
List<Node> path = reachGoal.tempPositions;
reachGoal.assignGridCoords (graph.g.getGridCoords(reachGoal.next),
graph.g.getGridCoords(currChar.transform.position),
graph.g.getGridCoords(goal.transform.position));
// G.updateGrid ();
// graph = new Graph(G);
graph.g.updateGrid ();
timer += Time.deltaTime;
reachGoal.assignedPath (graph.getPath (start, end, reachGoal.swampCost));
// timer = 0.0f;
// if (timer >= searchTime || path.Count == 0) {
// reachGoal.assignedPath (graph.getPath (start, end));
// timer = 0.0f;
// }
reachGoal.nextStep ();
}
// Update is called once per frame
void Update()
{
//update grid
//update graph
//feed graph to character CharList[iChar]
//every char is moving at each frame, but at frame i % numChars,
// char i is moving according to new graph and everyone else is moving according to their 'current' graphs
Transform currChar = characters.transform.GetChild(iChar);
iChar = (iChar + 1) % numChars;
reachGoal = currChar.GetComponent <ReachGoal> ();
Vector3 start = currChar.transform.position;
Vector3 end = goal.transform.position;
List <Node> path = reachGoal.tempPositions;
reachGoal.assignGridCoords(graph.g.getGridCoords(reachGoal.next),
graph.g.getGridCoords(currChar.transform.position),
graph.g.getGridCoords(goal.transform.position));
// G.updateGrid ();
// graph = new Graph(G);
graph.g.updateGrid();
timer += Time.deltaTime;
reachGoal.assignedPath(graph.getPath(start, end, reachGoal.swampCost));
// timer = 0.0f;
// if (timer >= searchTime || path.Count == 0) {
// reachGoal.assignedPath (graph.getPath (start, end));
// timer = 0.0f;
// }
reachGoal.nextStep();
}
// private State[] states;
// Use this for initialization
// void Starta () {
// iChar = 0;
// numChars = characters.transform.childCount;
// graph = new Graph (2.0f);
// states = new State[numChars];
// for (int i = 0; i < numChars; i++) {
// Transform child = characters.transform.GetChild(i);
// reachGoal = child.GetComponent<ReachGoal> ();
// reachGoal.Starta();
// Grid G = new Grid(plane, goal, nodeSize, swamps);
// G.initStart();
// states[i] = new State(new List<Node> (), new List<Node> (), new Dictionary<Node, Node> (),
// null, null, reachGoal.swampCost, G, null, false, false);
// }
// if (swamps != null) {
// int swampCount = swamps.transform.childCount;
// for (int k = 0; k < swampCount; k++) {
// swamps.transform.GetChild (k).GetComponent<MeshCollider> ().enabled = false;
// }
// }
// }
//have to update reachGoal.G.goalPos = behaviour[i].poi
// Update is called once per frame
public void Updatea()
{
//every char is moving at each frame, but at frame i % numChars,
// char i is moving according to new graph and everyone else is moving according to their 'current' graphs
if (currCharNode != null && characters != null)
{
GameObject currChar = currCharNode.Value;
ReachGoal reachGoal = currChar.GetComponent <MasterBehaviour> ().reachGoal;
Vector3 start = currChar.transform.position;
Vector3 end = reachGoal.goalPos;
Debug.Log("End: " + reachGoal.goalPos);
Debug.Log("Start: " + start);
//graph sets a threshold for how many nodes to search.
//if the threshold is hit before the goalNode is found, graphsearch returns an estimated path
//and ongoing is set to true.
//otherwise, ongoing is set to false, and continue searching as everything is initalized
State s = reachGoal.state;
graph.setGrid(reachGoal.state.sGrid);
s.sGrid.updateGrid(reachGoal.goalPos);
if (!s.ongoing)
{
Vector3 startCoords = s.sGrid.getGridCoords(start);
int startI = (int)startCoords.x;
int startJ = (int)startCoords.z;
s.startNode = s.sGrid.grid [startI, startJ];
s.startNode.g = 0.0f;
s.startNode.f = s.startNode.g + graph.weight * s.startNode.h;
s.open.Add(s.startNode);
}
Vector3 endCoords = s.sGrid.getGridCoords(end);
int endI = (int)endCoords.x;
int endJ = (int)endCoords.z;
s.endNode = s.sGrid.grid [endI, endJ];
Vector3 charCoords = s.sGrid.getGridCoords(start);
int charI = (int)charCoords.x;
int charJ = (int)charCoords.z;
//graph needs to know the current characters position
graph.setCharNode(s.sGrid.grid [charI, charJ]);
reachGoal.state = graph.getPath(s);
List <Node> path = reachGoal.state.path;
reachGoal.assignedPath(path);
//regardless of which character's graph search turn it is, move all of them
int numChars = characters.Count;
GameObject[] charArray = new GameObject[numChars];
characters.CopyTo(charArray, 0);
for (int i = 0; i < numChars; i++)
{
reachGoal = charArray[i].GetComponent <MasterBehaviour>().reachGoal;
State s_i = reachGoal.state;
reachGoal.assignGridCoords(s_i.sGrid.getGridCoords(reachGoal.next),
s_i.sGrid.getGridCoords(charArray[i].transform.position),
s_i.sGrid.getGridCoords(reachGoal.goalPos));
//character has removed this node from its path so remove it from the dictionary
Node r;
r = reachGoal.nextStep();
if (r != null)
{
foreach (Node key in s_i.dictPath.Keys)
{
if (Node.Equals(s_i.dictPath [key], r))
{
s_i.dictPath.Remove(key);
break;
}
}
}
}
}
}
// Update is called once per frame
void Update()
{
//every char is moving at each frame, but at frame i % numChars,
// char i is moving according to new graph and everyone else is moving according to their 'current' graphs
Transform currChar = characters.transform.GetChild (iChar);
reachGoal = currChar.GetComponent<ReachGoal> ();
Vector3 start = currChar.transform.position;
Vector3 end = goal.transform.position;
//graph sets a threshold for how many nodes to search.
//if the threshold is hit before the goalNode is found, graphsearch returns an estimated path
//and ongoing is set to true.
//otherwise, ongoing is set to false, and continue searching as everything is initalized
State s = states [iChar];
graph.setGrid(s.sGrid);
s.sGrid.updateGrid();
if (!s.ongoing) {
Vector3 startCoords = s.sGrid.getGridCoords(currChar.position);
int startI = (int)startCoords.x;
int startJ = (int)startCoords.z;
s.startNode = s.sGrid.grid [startI, startJ];
s.startNode.g = 0.0f;
s.startNode.f = s.startNode.g + graph.weight * s.startNode.h;
s.open.Add (s.startNode);
}
Vector3 endCoords = s.sGrid.getGridCoords (goal.transform.position);
int endI = (int)endCoords.x;
int endJ = (int)endCoords.z;
s.endNode = s.sGrid.grid [endI, endJ];
Vector3 charCoords = s.sGrid.getGridCoords (currChar.position);
int charI = (int)charCoords.x;
int charJ = (int)charCoords.z;
//graph needs to know the current characters position
graph.setCharNode (s.sGrid.grid [charI, charJ]);
states[iChar] = graph.getPath (s);
List<Node> path = states[iChar].path;
reachGoal.assignedPath (path);
//regardless of which character's graph search turn it is, move all of them
for (int i = 0; i < numChars; i++) {
State s_i = states[i];
Transform child = characters.transform.GetChild(i);
reachGoal = child.GetComponent<ReachGoal> ();
reachGoal.assignGridCoords (s_i.sGrid.getGridCoords(reachGoal.next),
s_i.sGrid.getGridCoords(child.transform.position),
s_i.sGrid.getGridCoords(goal.transform.position));
//character has removed this node from its path so remove it from the dictionary
Node r;
r = reachGoal.nextStep ();
if (r != null){
foreach (Node key in states[i].dictPath.Keys){
if (Node.Equals(states[i].dictPath[key], r)){
states[i].dictPath.Remove(key);
break;
}
}
}
}
iChar = (iChar + 1) % numChars;
}
