//Generate the flow field showing how far to the closest obstacle from each cell
private void GenerateObstacleFlowField()
{
FlowField flowField = new FlowField();
int mapLength = PathfindingController.mapLength;
int mapWidth = PathfindingController.mapWidth;
//The flow field will be stored in this array
FlowFieldNode[,] gridArray = new FlowFieldNode[mapLength, mapWidth];
for (int x = 0; x < mapLength; x++)
{
for (int z = 0; z < mapWidth; z++)
{
bool isWalkable = true;
FlowFieldNode node = new FlowFieldNode(isWalkable);
node.cellPos = new IntVector2(x, z);
gridArray[x, z] = node;
}
}
//A flow field can have several start nodes
List <FlowFieldNode> startNodes = new List <FlowFieldNode>();
for (int x = 0; x < mapLength; x++)
{
for (int z = 0; z < mapWidth; z++)
{
//If this is an obstacle
if (isObstacleInCell[x, z])
{
startNodes.Add(gridArray[x, z]);
}
}
}
//Generate the flow field
flowField.FindPath(startNodes, gridArray);
//Add the values to the other array
for (int x = 0; x < mapLength; x++)
{
for (int z = 0; z < mapWidth; z++)
{
distanceToClosestObstacle[x, z] = gridArray[x, z].totalCostFlowField;
}
}
}
//Calculate the shortest path with obstacles from each square
//Is called Dynamic Programming in "Programming self-driving car" but is the same as a flow map
//Is called holonomic-with-obstacles in the reports
public void DynamicProgramming(IntVector2 targetPos)
{
FlowField flowField = new FlowField();
int mapLength = PathfindingController.mapLength;
int mapWidth = PathfindingController.mapWidth;
//The final flow field will be stored here, so init it
FlowFieldNode[,] gridArray = new FlowFieldNode[mapLength, mapWidth];
for (int x = 0; x < mapLength; x++)
{
for (int z = 0; z < mapWidth; z++)
{
//bool isWalkable = ObstaclesController.isObstacleInCell[x, z] ? false : true; (MATT)
bool isWalkable = true;
FlowFieldNode node = new FlowFieldNode(isWalkable);
node.cellPos = new IntVector2(x, z);
gridArray[x, z] = node;
}
}
//A flow field can have several start nodes
List <FlowFieldNode> startNodes = new List <FlowFieldNode>();
startNodes.Add(gridArray[targetPos.x, targetPos.z]);
flowField.FindPath(startNodes, gridArray);
//Add the values to the other array
for (int x = 0; x < mapLength; x++)
{
for (int z = 0; z < mapWidth; z++)
{
flowFieldHeuristics[x, z] = gridArray[x, z].totalCostFlowField;
}
}
}
