public bool Equals(PathNode p){
return (p.x == x && p.y == y);
}
/*public static void InitializeToMap(IPathMap map){
allNodes = new PathNode[map.GetMapWidth() * map.GetMapHeight()];
width = map.GetMapWidth();
height = map.GetMapHeight();
for(int x = 0; x < width; x++){
for(int y = 0; y < height; y++){
int index = y * width + x;
allNodes[index] = new PathNode(x,y);
}
}
}*/
static PathNode GetNodeFor(int x, int y, int dx, int dy){
PathNode p = new PathNode(x,y,dx,dy);
return p;
}
static PathNode GetNodeFor(int x, int y){
PathNode p = new PathNode(x,y);
return p;
}
static void RemoveNodeFromList(List<PathNode> list, PathNode p){
int length = list.Count;
for(int i = 0; i < length; i++){
if(list[i].Equals(p)){
list.RemoveAt(i);
return;
}
}
}
static bool ListContains(List<PathNode> list, PathNode p){
int length = list.Count;
for(int i = 0; i < length; i++){
if(list[i].Equals(p)){
return true;
}
}
return false;
}
static List<PathNode> GetValidTiles(List<PathNode> closedNodes, List<PathNode> openNodes, PathNode node, IPathMap pathMap, PathNode endNode, int depth,
bool allowDiagonals,bool randomiseWeightMap, int randomisationAmount, bool pathOverAllBlocks)
{
int r_x = node.x;
int r_y = node.y;
nodes.Clear();
//the maximum nodes would be 8
//u,d,l,r,ul,ur,dl,dr
//PathNode[] nodes = new PathNode[8];
//int nodeIndex = 0;
for (int x = r_x - 1; x <= r_x + 1; x++)
{
if (x >= pathMap.GetMapWidth() || x < 0)
continue;
for (int y = r_y - 1; y <= r_y + 1; y++)
{
if (y >= pathMap.GetMapHeight() || y < 0)
continue;
if(!allowDiagonals){
if (x != r_x && y != r_y){
continue;
}
}
//the target won't be walkable. guarantee
if (x == endNode.x && y == endNode.y)
{
//nodes[nodeIndex] = endNode;
//Debug.Log("Added endNode");
endNode.cameFrom = node;
nodes.Add(endNode);
break;
}
PathNode p = GetNodeFor(x, y, endNode.x, endNode.y);
if (ListContains(closedNodes,p))
{
continue;
}
if (ListContains(openNodes,p))
{
continue;
}
if (!pathMap.IsWalkable(x, y, depth, pathOverAllBlocks))
{
continue;
}
p.cameFrom = node;
nodes.Add(p);
if(randomiseWeightMap){
p.h += weightMap[y * pathMap.GetMapWidth() + x];
}
//nodes[nodeIndex] = p;
//nodeIndex++;
}
}
//PathNode[] returnNodes = new PathNode[nodeIndex];
//for (int i = 0; i < nodeIndex; i++)
//{
//returnNodes[i] = nodes[i];
//}
//return returnNodes;
return nodes;
}
/// <summary>
///Returns a list of PathNodes (x,y coordinates) representing a 2D path between 2 points
/// </summary>
/// <param name="x1">
///The x coordinate of point A
/// </param>
/// <param name="y1">
///The y coordinate of point A
/// </param>
/// <param name="x2">
///The x coordinate of point B
/// </param>
/// <param name="y2">
///The y coordinate of point B
/// </param>
/// <param name="pathMap">
///The map over which to path
/// </param>
/// <param name="depth">
///The depth at which to path over the map
/// </param>
/// <param name="allowDiagonals">
///Should the path allow diagonals?
/// </param>
/// <param name="randomiseWeightMap">
///Should the weights between tiles be randomised? (Generates an imperfect path)
/// </param>
/// <param name="randomisationAmount">
///By how much should the weights between tiles be randomised?
/// </param>
/// <param name="pathOverAllBlocks">
///Should we disregard CanWalkAt() results and path over everything?
/// </param>
/// <returns>
///A list of PathNodes, representing the path. Null or empty if no path available.
/// </returns>
public static List <PathNode> GetPath(int x1, int y1, int x2, int y2, IPathMap pathMap, int depth, bool allowDiagonals, bool randomiseWeightMap, int randomisationAmount, bool pathOverAllBlocks)
{
if (randomiseWeightMap)
{
weightMap = new int[pathMap.GetMapWidth() * pathMap.GetMapHeight()];
string w = "";
for (int i = 0; i < weightMap.Length; i++)
{
weightMap[i] = UnityEngine.Random.Range(0, randomisationAmount);
w += weightMap[i] + ",";
}
}
startPathTime = DateTime.Now;
if (x1 < 0 || x1 >= pathMap.GetMapWidth())
{
return(null);
}
if (y1 < 0 || y1 >= pathMap.GetMapHeight())
{
return(null);
}
if (x2 < 0 || x2 >= pathMap.GetMapWidth())
{
return(null);
}
if (y2 < 0 || y2 >= pathMap.GetMapHeight())
{
return(null);
}
PathNode start = GetNodeFor(x1, y1, x2, y2);
PathNode end = GetNodeFor(x2, y2, x2, y2);
path.Clear();
closed.Clear();
open.Clear();
PathNode current = start;
open.AddRange(GetValidTiles(closed, open, current, pathMap, end, depth, allowDiagonals, randomiseWeightMap, randomisationAmount, pathOverAllBlocks));
while (open.Count > 0 && !current.Equals(end))
{
RemoveNodeFromList(open, current);
closed.Add(current);
open.AddRange(GetValidTiles(closed, open, current, pathMap, end, depth, allowDiagonals, randomiseWeightMap, randomisationAmount, pathOverAllBlocks));
current = GetBestTile(open);
endPathTime = DateTime.Now;
if ((endPathTime - startPathTime).TotalMilliseconds >= acceptablePathingTime)
{
Debug.LogWarning("Pathing from: " + x1 + "," + y1 + " to " + x2 + "," + y2 + " took " + (endPathTime - startPathTime).TotalMilliseconds + "ms.\n" +
"Total open: " + open.Count + " Total closed: " + closed.Count + " exceeded acceptable pathing time.");
break;
}
}
if (current == null)
{
return(null);
}
while (current != null && !current.Equals(start) && current.cameFrom != null)
{
if (current != end)
{
path.Insert(0, current);
}
current = current.cameFrom;
}
return(path);
}
static PathNode GetNodeFor(int x, int y)
{
PathNode p = new PathNode(x, y);
return(p);
}
/*public static void InitializeToMap(IPathMap map){
*
* allNodes = new PathNode[map.GetMapWidth() * map.GetMapHeight()];
*
* width = map.GetMapWidth();
* height = map.GetMapHeight();
*
* for(int x = 0; x < width; x++){
* for(int y = 0; y < height; y++){
*
* int index = y * width + x;
*
* allNodes[index] = new PathNode(x,y);
*
* }
* }
*
* }*/
static PathNode GetNodeFor(int x, int y, int dx, int dy)
{
PathNode p = new PathNode(x, y, dx, dy);
return(p);
}
static List <PathNode> GetValidTiles(List <PathNode> closedNodes, List <PathNode> openNodes, PathNode node, IPathMap pathMap, PathNode endNode, int depth,
bool allowDiagonals, bool randomiseWeightMap, int randomisationAmount, bool pathOverAllBlocks)
{
int r_x = node.x;
int r_y = node.y;
nodes.Clear();
//the maximum nodes would be 8
//u,d,l,r,ul,ur,dl,dr
//PathNode[] nodes = new PathNode[8];
//int nodeIndex = 0;
for (int x = r_x - 1; x <= r_x + 1; x++)
{
if (x >= pathMap.GetMapWidth() || x < 0)
{
continue;
}
for (int y = r_y - 1; y <= r_y + 1; y++)
{
if (y >= pathMap.GetMapHeight() || y < 0)
{
continue;
}
if (!allowDiagonals)
{
if (x != r_x && y != r_y)
{
continue;
}
}
//the target won't be walkable. guarantee
if (x == endNode.x && y == endNode.y)
{
//nodes[nodeIndex] = endNode;
//Debug.Log("Added endNode");
endNode.cameFrom = node;
nodes.Add(endNode);
break;
}
PathNode p = GetNodeFor(x, y, endNode.x, endNode.y);
if (ListContains(closedNodes, p))
{
continue;
}
if (ListContains(openNodes, p))
{
continue;
}
if (!pathMap.IsWalkable(x, y, depth, pathOverAllBlocks))
{
continue;
}
p.cameFrom = node;
nodes.Add(p);
if (randomiseWeightMap)
{
p.h += weightMap[y * pathMap.GetMapWidth() + x];
}
//nodes[nodeIndex] = p;
//nodeIndex++;
}
}
//PathNode[] returnNodes = new PathNode[nodeIndex];
//for (int i = 0; i < nodeIndex; i++)
//{
//returnNodes[i] = nodes[i];
//}
//return returnNodes;
return(nodes);
}
