private void Recalculate(bool changeTarget)
{
List <GameObject> agents = new List <GameObject>();
agents.Add(gameObject);
// Source to Target
if (changeTarget || Target != null)
{
Destroy(Target);
Target = SpawnAgentsScript.Spawn(false, agents, color);
replans = 0; // can't forget this
}
var edge = DrawVisibilityGraphScript.DrawVisibilityEdge(
transform.position, Target.transform.position,
Color.green, false, true, false, true
);
Path = new List <Vector2>();
if (edge != null)
{
Path.Add(edge[1]);
}
if (Path.Count > 0) // if there's a direct path between two points, no need to even compute A*, just walk the path!
{
return;
}
// Clone a fresh new graph
Graph = new VisibilityGraph();
Graph.Vertices = OriginalGraph.ClonedVertices();
Graph.AdjList = OriginalGraph.ClonedAdjList();
Graph.SetSource(transform.position);
Graph.SetTarget(Target.transform.position);
// Debug.DrawLine(transform.position, Target, color, 100);
// Graph.PrintNumEdges();
// Edges from source/target to boundaries/obstacles
DrawVisibilityGraphScript.DrawFromBoundaries(
transform.position, Target.transform.position, color, Graph
);
DrawVisibilityGraphScript.DrawFromObstacles(
transform.position, Target.transform.position, color, Graph
);
// Graph.PrintNumEdges();
/*
* if (Graph.AdjList.ContainsKey(transform.position)) {
* Debug.Log(Graph.AdjList[transform.position].Count);
* } else {
* Debug.Log("Nada");
* }
*/
if (
Graph.AdjList.ContainsKey(transform.position) &&
Graph.AdjList[transform.position].Count > 0 &&
Graph.AdjList.ContainsKey(Target.transform.position) &&
Graph.AdjList[Target.transform.position].Count > 0
)
{
// Debug.Log("A Star time.");
// Debug.Log(Time.realtimeSinceStartup);
float planningTime = Time.realtimeSinceStartup;
Path = Graph.AStar();
planningTime = Time.realtimeSinceStartup - planningTime;
StatsScript.TotalPlanningTime += planningTime;
// Debug.Log(Time.realtimeSinceStartup);
}
}
public GameObject Spawn( // Purpose is to make sure no overlap
bool isSource, List <GameObject> agents, Color color
)
{
Vector2[] spots =
{
new Vector2(-2.94f, 0.66f),
new Vector2(0.01f, 0.66f),
new Vector2(2.22f, 0.66f),
new Vector2(-1.96f, -1.68f)
};
float randX;
float randY;
Vector2 rand = Vector2.up;
GameObject agent;
if (isSource)
{
agent = Instantiate(AgentPrefab, AgentContainer.transform);
}
else
{
agent = Instantiate(TargetPrefab, TargetContainer.transform);
}
agent.GetComponent <SpriteRenderer>().color = color;
bool guarantee = true;
RaycastHit2D hit = Physics2D.Raycast(
Vector2.up,
Vector2.up,
0
); // placeholder, Unity won't let me set it to null
while (guarantee || (
hit.collider != null &&
(
hit.collider.gameObject.CompareTag("Barbed Wire") ||
hit.collider.gameObject.CompareTag("Boundaries")
)
) || IsPointInObstacle(rand) ||
Touching(agent, agents)
)
{
guarantee = false;
randX = Random.Range(-7.25f, 5.25f);
randY = Random.Range(-5.61f, 3.69f);
rand = new Vector2(randX, randY);
agent.transform.position = rand;
// Physics2D.SyncTransforms();
foreach (Vector2 spot in spots)
{
hit = Physics2D.Raycast(
rand,
spot - rand,
Vector2.Distance(spot, rand),
1, -0.5f, 0.5f
);
/*
* Debug.Log(hit.collider);
* Debug.DrawRay(
* rand,
* spot - rand,
* color, 1000, false
* );
*/
if (!(
hit.collider != null &&
(
hit.collider.gameObject.CompareTag("Barbed Wire") ||
hit.collider.gameObject.CompareTag("Boundaries")
)
))
{
break;
}
}
}
/* FAILED ATTEMPT AT RAYCASTHITALL
* bool fail = true;
* while (fail || IsPointInObstacle(rand) || Touching(agent, agents)) {
* randX = Random.Range(-7.25f, 5.25f);
* randY = Random.Range(-5.61f, 3.69f);
* rand = new Vector2(randX, randY);
* agent.transform.position = rand;
*
* foreach (Vector2 spot in spots) {
* RaycastHit2D[] hits = Physics2D.RaycastAll(
* rand,
* spot - rand,
* Vector2.Distance(spot, rand)
* );
*
* int falseCalls = 0;
* bool exit = false;
* foreach (RaycastHit2D hit in hits) {
* if (hit.collider == null) {
* fail = false;
* break;
* } else if (!hit.collider.gameObject.CompareTag("Agent")) {
* Debug.Log(hit.collider);
* if (
* hit.collider.gameObject.CompareTag("Barbed Wire")
|| hit.collider.gameObject.CompareTag("Boundaries")
|| ) {
|| exit = true;
|| } else {
|| fail = false;
|| }
|| break;
|| } else {
|| falseCalls++;
|| }
|| }
||
|| if (!exit) {
|| if (hits.Length - falseCalls <= 0) {
|| fail = false;
|| }
|| }
|| }
||}
*/
// Passing down graphs, stats, id
if (isSource)
{
VisibilityGraph graph = GetComponent <DrawVisibilityGraph>().Graph;
VisibilityGraph graphCopy = new VisibilityGraph();
graphCopy.Vertices = graph.ClonedVertices();
graphCopy.AdjList = graph.ClonedAdjList();
agent.GetComponent <Pathing>().OriginalGraph = graphCopy;
agent.GetComponent <Pathing>().SpawnAgentsScript
= GetComponent <SpawnAgents>();
agent.GetComponent <Pathing>().DrawVisibilityGraphScript
= GetComponent <DrawVisibilityGraph>();
agent.GetComponent <Pathing>().StatsScript = StatsScript;
agent.GetComponent <Pathing>().Id = Id;
Id++;
}
return(agent);
}