public MazeAStar(VisionMapping vision, Func <Map2d> getMap, Func <bool> canJump, Action reset_state,
GetCameFrom get_came_from, Action <Coord, Coord, int> set_came_from,
Func <Coord, float> get_f_score, Action <Coord, float> set_f_score,
Func <Coord, float> get_g_score, Action <Coord, float> set_g_score)
{
SetAstarSourceData(vision, getMap, canJump, reset_state, get_came_from, set_came_from, get_f_score, set_f_score, get_g_score, set_g_score);
}
public Map2dAStar(Func <bool> canJump, MazeLevel maze, VisionMapping vision, Transform transform, GameObject prefab_debug_astar)
{
this.maze = maze;
this.prefab_debug_astar = prefab_debug_astar;
SetAstarSourceData(vision, () => maze.Map, canJump, ResetCalcSpace,
(Coord c, out Coord n) => {
AStarData a = calcSpace.At(c);
Coord f = a.from; //e = a._edge;
n = f != Coord.NegativeOne ? f : c;
return(a._edge);
},
(c, f, e) => {
AStarData a = calcSpace.At(c);
a._edge = e; a.from = f;
},
c => calcSpace.At(c).f, (c, f) => { calcSpace.At(c).f = f; },
c => calcSpace.At(c).g, (c, f) => { calcSpace.At(c).g = f; });
ResetCalcSpace(Map.GetSize());
Vector3 p = transform.position;
Coord here = maze.GetCoord(p);
Start(here, here);
if (prefab_debug_astar != null)
{
maze.seen.onChange += RefreshVision;
vision.onChange += RefreshVision;
}
}
public void SetAstarSourceData(VisionMapping vision, Func <Map2d> getMap, Func <bool> canJump, Action reset_state,
GetCameFrom get_came_from, Action <Coord, Coord, int> set_came_from,
Func <Coord, float> get_f_score, Action <Coord, float> set_f_score,
Func <Coord, float> get_g_score, Action <Coord, float> set_g_score)
{
this.getMap = getMap;
this.canJump = canJump;
this.vision = vision;
SetNodeAndEdgeMethods(GetEdges, NextNode, EdgeCost, Dist, reset_state, get_came_from, set_came_from, get_f_score, set_f_score, get_g_score, set_g_score);
}
public void ResetCalc()
{
if (vision == null)
{
if (maze != null && maze.Map != null)
{
vision = new VisionMapping(() => maze.Map.GetSize());
}
}
else
{
vision.Reset();
}
Blink();
}
public AStarData Reset(Coord c, Map2dAStar a, VisionMapping vm, GameObject prefab_data_vis)
{
_f = _g = _edge = -1; _from = c;
coord = c;
astar = a;
visMap = vm;
if (debugVisibleObject == null && prefab_data_vis != null)
{
debugVisibleObject = GameObject.Instantiate(prefab_data_vis);
RefreshDebug();
}
if (debugVisibleObject)
{
debugVisibleObject.name = prefab_data_vis.name + " (" + coord + ")";
if (fromArrow != null)
{
RefreshDebugFromArrow();
}
}
return(this);
}
private void Awake()
{
_t = transform;
seen = new VisionMapping(() => map != null ? map.GetSize() : new Coord(7, 7));
}
public AStarData(Coord c, Map2dAStar a, VisionMapping vm, GameObject prefab_data_vis)
{
Reset(c, a, vm, prefab_data_vis);
}
