void Start()
{
player = GameLibOfMethods.player;
spr = FindObjectOfType <SpriteControler>();
anim = GameLibOfMethods.animator;
rb = player.GetComponent <Rigidbody2D>();
grid = NodeGridManager.GetGrid(PathFinding.Resolution.High);
col = player.GetComponent <Collider2D>();
contactFilter = new ContactFilter2D();
contactFilter.SetLayerMask(GameLibOfMethods.Instance.InteractablesLayer);
}
void Start()
{
spr = FindObjectOfType <SpriteControler>();
player = Player.gameObject;
anim = Player.anim;
rb = Player.rb;
grid = NodeGridManager.GetGrid(PathFinding.Resolution.High);
col = Player.col;
playerTransform = Player.transform;
contactFilter = new ContactFilter2D();
contactFilter.SetLayerMask(LayerMask.GetMask("MouseOverCollider"));
}
void Update()
{
if (UpdateFrequency != 0)
{
currentT += GameTime.Time.deltaTime;
if (currentT <= UpdateFrequency)
{
return;
}
currentT = 0;
}
NodeGridManager.RegisterUnwalkable(col);
}
void MakeCurrentNodeOccupied() => NodeGridManager.SetPosUnwalkable(playerTransform.position, col);
public static void GetPath(Vector2 start, Vector2 target, List <Node> pp, Resolution resolution)
{
#region INIT
var grid = NodeGridManager.GetGrid(resolution);
var nodeGrid = grid.nodeGrid;
Node startNode = grid.NodeFromWorldPoint(start);
Node targetNode = grid.NodeFromWorldPoint(target);
if (!startNode.walkable)
{
startNode = NodeHelper.ClosestWalkable(startNode, resolution);
}
if (!targetNode.walkable)
{
targetNode = NodeHelper.ClosestWalkable(targetNode, resolution);
}
Node node, nbr;
openSet.Clear();
closedSet.Clear();
openSet.Add(startNode);
startNode.hCost = startNode.gCost = 0;
#endregion
while (openSet.Count > 0)
{
node = openSet.RemoveFirst();
closedSet.Add(node);
if (node == targetNode)
{
pp.Clear();
Node currentNode = targetNode;
while (currentNode != startNode)
{
pp.Add(currentNode);
currentNode = nodeGrid[currentNode.parent.x, currentNode.parent.y];
}
pp.Reverse();
return;
}
bool skipD = false;
var nbsA = node.neighbours.directionNeighbours;
int scanA = node.neighbours.DirectionCount;
for (int i = 0; i < scanA; i++)
{
nbr = nodeGrid[nbsA[i].x, nbsA[i].y];
if (!nbr.walkable)
{
skipD = true; continue;
}
if (closedSet.Contains(nbr))
{
continue;
}
int cost = node.gCost + heuristic(node, nbr);
if (!openSet.Contains(nbr))
{
nbr.gCost = cost;
nbr.hCost = heuristic(nbr, targetNode);
nbr.parent = new BaseNode(node.X, node.Y);
openSet.Add(nbr);
}
else if (cost < nbr.gCost)
{
nbr.gCost = cost;
nbr.hCost = heuristic(nbr, targetNode);
nbr.parent = new BaseNode(node.X, node.Y);
}
}
if (skipD)
{
continue;
}
var nbsB = node.neighbours.diagonalNeighbours;
int scanB = node.neighbours.DiagonalCount;
for (int i = 0; i < scanB; i++)
{
nbr = nodeGrid[nbsB[i].x, nbsB[i].y];
if (!nbr.walkable)
{
continue;
}
if (closedSet.Contains(nbr))
{
continue;
}
for (int j = 0; j < nbr.neighbours.DiagonalCount; j++)
{
var nbr_D = nbr.neighbours.diagonalNeighbours[j];
var dNode = nodeGrid[nbr_D.x, nbr_D.y];
if (!dNode.walkable)
{
break;
}
}
int cost = node.gCost + heuristic(node, nbr);
if (!openSet.Contains(nbr))
{
nbr.gCost = cost;
nbr.hCost = heuristic(nbr, targetNode);
nbr.parent = new BaseNode(node.X, node.Y);
openSet.Add(nbr);
}
else if (cost < nbr.gCost)
{
nbr.gCost = cost;
nbr.hCost = heuristic(nbr, targetNode);
nbr.parent = new BaseNode(node.X, node.Y);
}
}
}
// If the code escapes the while loop, it means no valid path could be found.
Debug.LogWarning($"Path not found (Start: {start} -- Target: {target})");
}
void Start() => grid = NodeGridManager.GetGrid(resolution);
void MakeCurrentNodeOccupied()
{
NodeGridManager.SetPosUnwalkable(rb.position, col);
}
void Awake()
{
instance = this;
playerCol = GameLibOfMethods.player.GetComponent <Collider2D>();
}
public static Node ClosestWalkable(Node closestTo, Resolution resolution)
{
grid = NodeGridManager.GetGrid(resolution);
nodeGrid = grid.nodeGrid;
// First, check if any of the neighbors are walkable
BaseNode[] neighbors = closestTo.neighbours.directionNeighbours;
X = closestTo.X;
Y = closestTo.Y;
maxX = nodeGrid.GetLength(0) - 1;
maxY = nodeGrid.GetLength(1) - 1;
helperList.Clear();
// Find Closest Left
helperList.Add(ClosestToOrigin(decrease, stay));
// Find Closest Right
helperList.Add(ClosestToOrigin(increase, stay));
// Find Closest Top
helperList.Add(ClosestToOrigin(stay, increase));
// Find Closest Bot
helperList.Add(ClosestToOrigin(stay, decrease));
// Find Closest Diags
helperList.Add(ClosestToOrigin(decrease, decrease));
helperList.Add(ClosestToOrigin(decrease, increase));
helperList.Add(ClosestToOrigin(increase, decrease));
helperList.Add(ClosestToOrigin(increase, increase));
// Find Most efficient Node
int minDist = int.MaxValue;
Node closestNode = null;
foreach (Node n in helperList)
{
if (n == null)
{
continue;
}
int dist = heuristic(n, closestTo);
if (dist >= minDist)
{
continue;
}
minDist = dist;
closestNode = n;
}
if (closestNode == null)
{
Debug.LogError("Couldn't find valid node on " + grid.PosFromNode(closestTo));
return(closestTo);
}
else
{
return(closestNode);
}
}
