// TODO: refactor this to be handled by region
// assumes the tiles are adjacent to each other
public virtual float costBetween(PathTile t1, PathTile t2)
{
float cost = ((t1.tile.index - t2.tile.index).magnitude > 1f) ? Mathf.Sqrt(2f) : 1f; // base cost between tiles
// cost due to elevation
float elevationDelta = (t2.tile.pos.y - t1.tile.pos.y);
if (elevationDelta < 0)
{
cost -= elevationDelta / downElevatonPerPoint;
}
else
{
cost += elevationDelta / upElevatonPerPoint;
}
//Debug.Log("PathFinder cost between " + t1.tile.index + " and " + t2.tile.index + ": " + cost + " elevation influence " + (elevationDelta / downElevatonPerPoint));
// cost due to tile attributes
//cost += t2.tile.moveCostPenalty;
if (cost > this.maxIncrementalCost)
{
return(float.PositiveInfinity);
}
return(cost);
}
// assumes the tiles are adjacent to each other
public virtual float costBetween(PathTile t1, PathTile t2)
{
float cost = 1f; // base cost between tiles
// cost due to elevation
float elevationDelta = (t2.tile.getY() - t1.tile.getY());
if (elevationDelta < 0)
{
cost -= elevationDelta / downElevatonPerPoint;
}
else
{
cost += elevationDelta / upElevatonPerPoint;
}
// cost due to tile attributes
cost += t2.tile.moveCostPenalty;
if (cost > this.maxIncrementalCost)
{
return(float.PositiveInfinity);
}
return(cost);
}
public bool CompareTo(PathTile pt)
{
if (this.tile.index == pt.tile.index)
{
return(true);
}
else
{
return(false);
}
}
public float heuristic(Region region, PathTile start, PathTile goal)
{
float cost = region.distanceBetweenTiles(start.tile, goal.tile);
float elevationDelta = start.tile.pos.y - goal.tile.pos.y;
if (elevationDelta < 0)
{
cost += -elevationDelta / downElevatonPerPoint;
}
else
{
cost += elevationDelta / upElevatonPerPoint;
}
return(cost);
}
public float heuristic(PathTile start, PathTile goal)
{
float cost = HexTile.distanceBetweenHexCoords(start.tile.index, goal.tile.index);
float elevationDelta = (start.tile.getY() - goal.tile.getY());
if (elevationDelta < 0)
{
cost += -elevationDelta / downElevatonPerPoint;
}
else
{
cost += elevationDelta / upElevatonPerPoint;
}
return(cost);
}
public bool equals(PathTile pt)
{
return(this.tile.Equals(pt.tile));
}
public void addExploredPathtile(PathTile pt)
{
this.exploredPathTiles.Add(pt);
}
public void addPathtile(PathTile pt)
{
this.pathTiles.Add(pt);
}
public float costBetween(PathTile t1, PathTile t2)
{
return(uniformCost);
}
public float heuristic(Region region, PathTile start, PathTile goal)
{
// Dijkstra can be considered as a special case of A* where heuristic is always equal zero
return(0);
}
// *** HEURISTIC COMPUTATIONS *** ///
public abstract float heuristic(Region region, PathTile start, PathTile goal);
public PathResult pathFromTo(Region region, Tile start, Tile goal, bool playersCanBlockPath = false)
{
PathResult pathResult = new PathResult();
PathTile goalPt = new PathTile(goal);
// set up lists
PriorityQueue <PathTile> frontier = new PriorityQueue <PathTile>();
Dictionary <Vector2Int, PathTile> explored = new Dictionary <Vector2Int, PathTile>();
Dictionary <Vector2Int, PathTile> previous = new Dictionary <Vector2Int, PathTile>();
Dictionary <Vector2Int, float> costs = new Dictionary <Vector2Int, float>();
PathTile crt;
crt = new PathTile(start);
crt.depth = 0;
frontier.Enqueue(crt, 0);
previous[crt.tile.index] = null;
costs[crt.tile.index] = 0;
// start pathfinding
while (!frontier.IsEmpty())
{
// get current
crt = frontier.Dequeue();
// record that the tile was explored
explored[crt.tile.index] = crt;
if (crt.equals(goalPt))
{
// reached goal; search complete
pathResult.reachedGoal = true;
pathResult.pathCost = costs[crt.tile.index];
break;
}
// get neighbor tiles
List <PathTile> neighbors = new List <PathTile>();
foreach (Tile neighborTile in region.getTileNeighbors(crt.tile.index))
{
PathTile neighbor = new PathTile(neighborTile);
//neighborPt.cost = crt.cost + costBetween(crt, neighborPt);
neighbor.depth = crt.depth + 1;
neighbors.Add(neighbor);
}
// add neighbor tiles to search
float cost, priority;
foreach (PathTile neighbor in neighbors)
{
// check if exceeding max depth
if (neighbor.depth > maxDepth)
{
break;
}
// compute cost
float _cost = costBetween(crt, neighbor);
//// check if path is blocked by another player
//if (playersCanBlockPath && GameControl.gameSession.checkForPlayersAt(neighbor.tile) != null)
//{
// if (!neighbor.CompareTo(goalPt)) // ensures that you can move to a tile with an enemy
// _cost = float.PositiveInfinity; // set highest cost to signify that the tile is unreachable
//}
cost = costs[crt.tile.index] + _cost;
if (cost <= maxCost)
{
if (!costs.ContainsKey(neighbor.tile.index) || cost < costs[neighbor.tile.index])
{
costs[neighbor.tile.index] = cost;
// compute heuristic priority
priority = cost + heuristic(region, neighbor, goalPt);
priority -= neighbor.depth * heuristicDepthInfluence; // makes so that tiles closest to goal are more eagerly explored
frontier.Enqueue(neighbor, priority);
previous[neighbor.tile.index] = crt;
}
}
}
}
// build list of tiles on path if goal was reached
if (pathResult.reachedGoal)
{
pathResult.addPathtile(goalPt);
crt = previous[goal.index];
while (crt != null)
{
pathResult.addPathtile(crt);
crt = previous[crt.tile.index];
}
}
foreach (PathTile pt in explored.Values)
{
pathResult.addExploredPathtile(pt);
}
return(pathResult);
}
public float heuristic(PathTile start, PathTile goal)
{
return(0);
}
// *** HEURISTIC COMPUTATIONS *** ///
public abstract float heuristic(PathTile start, PathTile goal);
