private List <int> RetracePath(AbstractNode startNode, AbstractNode endNode, bool retracePath)
{
if (!limitPrevious)
{
previousAbstractNodes.Clear();
}
List <int> path = new List <int>();
if (retracePath)
{
AbstractNode currentNode = endNode;
if (!limitPrevious)
{
previousAbstractNodes.Add(currentNode);// visual
}
path.Add(currentNode.worldAreaIndex);
path.Add(currentNode.sector);
while (currentNode != startNode)
{// if sector OR worldArea dont match, its a new one
if (path[path.Count - 1] != currentNode.sector || path[path.Count - 2] != currentNode.worldAreaIndex)
{
path.Add(currentNode.worldAreaIndex);
path.Add(currentNode.sector);
}
if (!limitPrevious)
{
previousAbstractNodes.Add(currentNode);// visual
}
currentNode = currentNode.parent;
}
if (path[path.Count - 1] != currentNode.sector)
{
if (!limitPrevious)
{
previousAbstractNodes.Add(currentNode); // visual
}
path.Add(currentNode.worldAreaIndex);
path.Add(currentNode.sector);
}
}
else
{
path.Add(0);
AbstractNode currentNode = endNode;
while (currentNode != startNode)
{
if (currentNode.connections.ContainsKey(currentNode.parent))
{
path[0] += currentNode.connections[currentNode.parent];
}
else
{
path[0] += 1;
}
currentNode = currentNode.parent;
}
}
return(path);
}
// find path on higher level between start and goal/destination
public List <List <int> > FindPaths(Dictionary <IntVector2, Tile> startingPoints, Tile destinationTile, WorldArea destinationArea)
{
multiSectorNodes = new List <AbstractNode>();
int maxLevelAmount = worldData.pathfinder.maxLevelAmount;
if (maxLevelAmount == 0)
{
if (worldData.pathfinder.worldIsMultiLayered)
{
Debug.Log("Invalid search: A Multi Layerd world cannot find paths with no Levels Of Abstraction ");
return(null);
}
else
{
maxLevelAmount = 1;
}
}
// adding all the start/destination nodes per level.
for (int i = 0; i < maxLevelAmount; i++)
{
foreach (IntVector2 key in startingPoints.Keys)
{
Tile startTile = startingPoints[key];
startNodeSector = worldData.multiLevelSectorManager.GetSectorOfTile(i, startTile, worldData.worldAreas[key.x]);
startMultiSectorNode = worldData.multiLevelSectorManager.CreateAbstractNodeInSector(startNodeSector, startTile, worldData.worldAreas[key.x]);
worldData.multiLevelSectorManager.ConnectNodeInSector(startNodeSector, startMultiSectorNode, worldData.worldAreas[key.x]);//, new List<HigherNode>());
multiSectorNodes.Add(startMultiSectorNode);
}
// create temporary highlevel node on the start node
// calculate its distance to the other high level nodes in the same sector, build connections between them
destinationNodeSector = worldData.multiLevelSectorManager.GetSectorOfTile(i, destinationTile, destinationArea);
destinationMultiSectorNode = worldData.multiLevelSectorManager.CreateAbstractNodeInSector(destinationNodeSector, destinationTile, destinationArea);
worldData.multiLevelSectorManager.ConnectNodeInSector(destinationNodeSector, destinationMultiSectorNode, destinationArea);
multiSectorNodes.Add(destinationMultiSectorNode);
}
bool nextStep = false;
AbstractNode start;
AbstractNode destination;
previousNodesStartingPointCount = startingPoints.Count;
sectorIndexesAllLowerPaths.Clear();
for (int j = 0; j < startingPoints.Count; j++) // for each starting point
{
for (int i = multiSectorNodes.Count - 1; i > -1; i -= startingPoints.Count + 1)
{
nextStep = false;
int level = i / (startingPoints.Count + 1);
start = multiSectorNodes[i - (j + 1)];
destination = multiSectorNodes[i];
if (start.sector == destination.sector)// starting point == destination
{
if (worldData.pathfinder.maxLevelAmount == 0)
{
AddToPath(new List <int> {
start.worldAreaIndex, start.sector
});
nextStep = true;
}
else
{
foreach (AbstractNode sectorNode in destination.connections.Keys)
{
if (sectorNode == start) // direct connection in sector
{
if (level != 0) // go to the next layer
{
nextStep = true;
}
else // level = 0, our goal is right next to us
{
AddToPath(new List <int> {
start.worldAreaIndex, start.sector
});
}
break;
}
}
}
}
//validSectorsFound
if (!nextStep)
{
if (level != 0) // we have to search the path between them, using A-star on the high level network
{
List <int> sectorIndexes = null;
if (validSectorsFound.Count == 0)
{
sectorIndexes = SearchHighLevelPath(start, destination, true);
}
else
{
sectorIndexes = SearchHighLevelPath(start, destination, validSectorsFound, true);
}
if (sectorIndexes == null)
{
Debug.Log("indexes ARE null, no Path on this hierachal Level: " + level);
}
else
{
validSectorsFound.Clear();
for (int k = 0; k < sectorIndexes.Count; k += 2)
{
foreach (int[] list in worldData.multiLevelSectorManager.GetLowerSectorsFromHigher(level, sectorIndexes[k + 1], worldData.worldAreas[sectorIndexes[k]]))
{
foreach (int lowerIndex in list)
{
validSectorsFound.Add(new IntVector2(sectorIndexes[k], lowerIndex), false);
}
}
}
}
}
else // lowest level reached
{
List <int> sectorIndexes = null;
if (validSectorsFound.Count == 0)
{
sectorIndexes = SearchHighLevelPath(start, destination, true);
}
else
{
sectorIndexes = SearchHighLevelPath(start, destination, validSectorsFound, true);
}
validSectorsFound.Clear();
if (sectorIndexes != null)
{
AddToPath(sectorIndexes);
}
}
}
}
}
return(sectorIndexesAllLowerPaths);
}
// cacluate distances to other high level nodes
public void ConnectNodeInSector(MultiLevelSector sector, AbstractNode sectorNode, WorldArea area)
{
int maxNodes = sector.worldAreaNodes.Count + sector.sectorNodesOnEdge[0].Count + sector.sectorNodesOnEdge[1].Count + sector.sectorNodesOnEdge[2].Count + sector.sectorNodesOnEdge[3].Count;
//Debug.Log("lowlevel sector ConnectNodeInSector " + maxNodes);
// 2 sectorNodes on same location, connect them
if (area.tileSectorNodeConnections[sector.level][sectorNode.tileConnection].Count > 1 && area.tileSectorNodeConnections[sector.level].ContainsKey(sectorNode.tileConnection))
{
maxNodes--;
manager.ConnectSectorNodes(area.tileSectorNodeConnections[sector.level][sectorNode.tileConnection][0], area.tileSectorNodeConnections[sector.level][sectorNode.tileConnection][1], 0);
}
openSet.Clear();
closedSet.Clear();
openSet.Add(sectorNode.tileConnection);
openSet[0].integrationValue = 0;
// Debug.Log("max nodes " + maxNodes);
while (openSet.Count > 0 && maxNodes != 0)
{
Tile currentNode = openSet[0];
foreach (Tile neighbour in manager.worldData.tileManager.GetAllNeighboursForSectorNodeSearch(currentNode, area))
{
//Debug.Log("neighbur");
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
// if true, there is a higher node here
if (neighbour.hasAbstractNodeConnection)//.higherLevelNodeIndex.Count > 0)
{
//Debug.Log("found connection");
//Get all HigherNodes on this Lower Node & connect them
List <AbstractNode> neighbourSectorNodes = area.tileSectorNodeConnections[sector.level][neighbour]; // GetHigherLevelNodeList(neighbour, sector);
manager.ConnectSectorNodes(sectorNode, neighbourSectorNodes, neighbour.integrationValue / 10); // 10 times scaling //more accurate but slower/ Mathf.FloorToInt((neighbour.totalPathCost / 10f) + 0.5f)
maxNodes -= neighbourSectorNodes.Count;
}
}
}
closedSet.Add(currentNode);
openSet.Remove(currentNode);
}
//Debug.Log("sectorNode connections " + sectorNode.connections.Count);
// reset
foreach (Tile tile in openSet)
{
tile.integrationValue = manager.worldData.tileManager.tileResetIntegrationValue;
}
foreach (Tile tile in closedSet)
{
tile.integrationValue = manager.worldData.tileManager.tileResetIntegrationValue;
}
}
