// Base constructor
public RoadGenerator(Vector2 origin, Vector2 destination, float maxSlope, float bridgePenalty)
{
// Obtain all extra needed information
this.resolution = TerrainChunk.resolution;
this.mapSize = TerrainCharacteristicsManager.Instance.mapSize;
this.terrainAreas = TerrainCharacteristicsManager.Instance.getTerrainAreasDeepCopy();
object map = TerrainCharacteristicsManager.Instance.getChunkMap (new Vector2 (-1, -1));
if (map is Color[][])
this.map = (Color[][])map;
else if (map is Color) // Optimized if only one color
this.optimizedTerrainArea = terrainAreas[(Color)map];
this.waterBodies = UpperLayersManager.Instance.getWaterBodiesProcessedLayer ();
this.maxSlope = maxSlope;
this.bridgePenalty = bridgePenalty;
origin = new Vector2 (Mathf.Round (origin.x * resolution), Mathf.Round (origin.y * resolution));
destination = new Vector2 (Mathf.Round (destination.x * resolution), Mathf.Round (destination.y * resolution));
openList = new SortedList<float, List<Vector2>> ();
openNodes = new Dictionary<Vector2, ANode> ();
float originY = getHeightValue (origin);
Vector3 origin3 = new Vector3 (origin.x, Mathf.Abs(originY), origin.y);
this.destination = new Vector3 (destination.x, Mathf.Abs(getHeightValue (destination)), destination.y);
closedNodes = new Dictionary<Vector2, ANode> ();
if (isInsideMapBoundaries(origin)) {
ANode originNode = new ANode (origin3, originY < 0, this.destination, null, bridgePenalty);
openList [Vector3.Distance (origin3, destination)] = new List<Vector2> () { origin };
openNodes [origin] = originNode;
}
}
public ANode(GraphNode <V> n, ANode <V> c, int g, int h)
{
this.node = n;
this.cameFrom = c;
this.gCost = g;
this.hCost = h;
}
public static bool TryReadStrings(ANode node, ref string[] variable, params string[] names)
{
foreach (string s in names)
{
ANode n = node[s];
if (n == null)
{
continue;
}
if (n is Array)
{
variable = n.AsArray.Children.Select(x => x.Value).ToArray();
}
else if (n is Data)
{
variable = new[] { n.Value };
}
else
{
Debug.LogError("Dev.JSON.TryReadStrings: Error at \"" + s + "\": Array or Data expected!");
continue;
}
return(true);
}
return(false);
}
public static void CalGValue(this ANode node, ANode startNode, int offset = 1, int unitPrice = 1)
{
int xDistance = Mathf.Abs(node.x - startNode.x) / offset;
int yDistance = Mathf.Abs(node.y - startNode.y) / offset;
node.G = (xDistance + yDistance) * unitPrice;
}
private void ShowContextMenu(ANode node)
{
if (_tree == null || !_tree.Nodes.Contains(node))
{
return;
}
GenericMenu menu = new GenericMenu();
if (node is AFlowNode)
{
if (node != _tree.Root)
{
menu.AddItem(new GUIContent("Make Root"), false, RootCallback, node);
}
else
{
menu.AddDisabledItem(new GUIContent("Make Root"));
}
menu.AddItem(new GUIContent("Connect"), false, ConnectCallback, node);
}
else
{
menu.AddDisabledItem(new GUIContent("Make Root"));
menu.AddDisabledItem(new GUIContent("Connect"));
}
menu.AddSeparator("");
menu.AddItem(new GUIContent("Delete"), false, DeleteCallback, node);
menu.ShowAsContext();
}
/// 最小スコアのノードを取得する.
public ANode SearchMinScoreNodeFromOpenList()
{
// 最小スコア
int min = 9999;
// 最小実コスト
int minCost = 9999;
ANode minNode = null;
foreach (ANode node in _openList)
{
int score = node.GetScore();
if (score > min)
{
// スコアが大きい
continue;
}
if (score == min && node.Cost >= minCost)
{
// スコアが同じときは実コストも比較する
continue;
}
// 最小値更新.
min = score;
minCost = node.Cost;
minNode = node;
}
return(minNode);
}
public static bool TryReadClassesChildren(ANode suposedClass, Dictionary <string, ANode> destination, IEnumerable <string> exceptions = null)
{
Class nodeC = suposedClass as Class;
if (nodeC == null)
{
Debug.LogError("Dev.JSON.GetClassesChildrenExcept: Argument is not a class!");
return(false);
}
bool res = false;
for (int i = 0; i < nodeC.Count; ++i)
{
string name = nodeC.GetChildNameAt(i);
if (exceptions == null || !exceptions.Contains(name))
{
res = true;
if (destination.ContainsKey(name))
{
destination[name] = nodeC.GetChildAt(i);
}
else
{
destination.Add(name, nodeC.GetChildAt(i));
}
}
}
return(res);
}
public override ANode Add(string aKey, ANode aItem, bool allowNulls = true)
{
if (aItem == null)
{
if (allowNulls)
{
aItem = new Data("null");
}
else
{
Debug.LogError("Dev.JSON.ANode.Add: Nulls are not allowed as values! Key: " + aKey);
return(this);
}
}
if (!string.IsNullOrEmpty(aKey))
{
if (_dict.ContainsKey(aKey))
{
_dict[aKey] = aItem;
}
else
{
_dict.Add(aKey, aItem);
}
}
else
{
_dict.Add(Guid.NewGuid().ToString(), aItem);
}
return(this);
}
public static AnimationEvent ReadAnimationEvent(JSON.ANode node)
{
AnimationEvent e = new AnimationEvent
{
time = node["time"].AsFloat,
functionName = node.GetOneOf("functionName").Value
};
ANode sPar = node.GetOneOf("stringParameter", "stringParam");
if (sPar != null)
{
e.stringParameter = sPar.Value;
}
ANode fPar = node.GetOneOf("floatParameter", "floatParam");
if (fPar != null)
{
e.floatParameter = fPar.AsFloat;
}
ANode iPar = node.GetOneOf("intParameter", "intParam");
if (iPar != null)
{
e.intParameter = iPar.AsInt;
}
return(e);
}
int GetCost(ANode a, ANode b)
{
int x = Mathf.Abs(a.GetGridX - b.GetGridX);
int y = Mathf.Abs(a.GetGridY - b.GetGridY);
return(x > y ? m_diagonalCost * y + m_straightCost * (x - y) : m_diagonalCost *x + m_straightCost *(y - x));
}
/// 指定の座標にあるノードをオープンする.
public ANode OpenNode(int x, int y, int cost, ANode parent, int[,] map)
{
// 座標をチェック.
if (x < 0 || map.GetLength(0) <= x || y < 0 || map.GetLength(1) <= y)
{
// 領域外.
return(null);
}
if (map[x, y] == 1)
{
// 通過できない.
return(null);
}
if (map[x, y] == 2)
{
// 通過できない.
return(null);
}
// ノードを取得する.
var node = GetNode(x, y, map);
if (node.IsNone() == false)
{
// 既にOpenしているので何もしない
return(null);
}
// Openする.
node.Open(parent, cost);
AddOpenList(node);
return(node);
}
void CreateGrid()
{
grid = new ANode[gridSizeX, gridSizeY];
Vector3 worldBottomLeft = transform.position - Vector3.right * gridWorldSize.x / 2 - Vector3.forward * gridWorldSize.y / 2;
for (int x = 0; x < gridSizeX; x++)
{
for (int y = 0; y < gridSizeY; y++)
{
Vector3 worldPoint = worldBottomLeft + Vector3.right * (x * nodeDiameter + nodeRaidus) + Vector3.forward * (y * nodeDiameter + nodeRaidus);
bool walkable = !(Physics.CheckSphere(worldPoint, nodeRaidus, unwalkableMask));
int movementPenalty = 0;
Ray ray = new Ray(worldPoint + Vector3.up * 50, Vector3.down);
RaycastHit hit;
if (Physics.Raycast(ray, out hit, 100, walkableMask))
{
walkableRegionsDictionary.TryGetValue(hit.collider.gameObject.layer, out movementPenalty);
}
if (!walkable)
{
movementPenalty += obstacleProximityPenalty;
}
grid[x, y] = new ANode(walkable, worldPoint, x, y, movementPenalty);
}
}
BlurPenaltyMap(3);
}
/// ステータスをOpenにする.
public void Open(ANode parent, int cost)
{
//Debug.Log (string.Format("Open: ({0},{1})", X, Y));
_status = eStatus.Open;
_cost = cost;
_parent = parent;
}
public List <ANode> GetNeighbours(ANode node)
{
List <ANode> neighbours = new List <ANode>();
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
if (x == 0 && y == 0)
{
continue;
}
int checkX = node.gridX + x;
int checkY = node.gridY + y;
if (checkX >= 0 && checkX < gridSizeX && checkY >= 0 && checkY < gridSizeY)
{
neighbours.Add(grid[checkX, checkY]);
}
}
}
return(neighbours);
}
int GetManhattanDistance(ANode a_nodeA, ANode a_nodeB)
{
int ix = Mathf.Abs(a_nodeA.iAGridX - a_nodeB.iAGridX); //x1-x2
int iy = Mathf.Abs(a_nodeA.iAGridY - a_nodeB.iAGridY); //y1-y2
return(ix + iy); //Return the sum
}
private static void AddElement(ANode ctx, string token, string tokenName, bool tokenIsString)
{
if (tokenIsString)
{
if (token == "@#$%EMPTYSTRING")
{
token = "";
}
if (ctx is Array)
{
ctx.Add(new Data(token));
}
else
{
ctx.Add(tokenName, new Data(token)); // assume dictionary/object
}
}
else
{
Data number = Numberize(token, tokenName);
if (ctx is Array)
{
ctx.Add(number);
}
else
{
ctx.Add(tokenName, number);
}
}
}
private List <ANode> GetNeighbours(ANode node)
{
List <ANode> neighbours = new List <ANode>();
Vector2Int checkPosition = new Vector2Int(node.x, node.y - 1);
if (_map.IsPositionViable(checkPosition))
{
neighbours.Add(grid[checkPosition.x, checkPosition.y]);
}
checkPosition.x = node.x;
checkPosition.y = node.y + 1;
if (_map.IsPositionViable(checkPosition))
{
neighbours.Add(grid[checkPosition.x, checkPosition.y]);
}
checkPosition.x = node.x - 1;
checkPosition.y = node.y;
if (_map.IsPositionViable(checkPosition))
{
neighbours.Add(grid[checkPosition.x, checkPosition.y]);
}
checkPosition.x = node.x + 1;
checkPosition.y = node.y;
if (_map.IsPositionViable(checkPosition))
{
neighbours.Add(grid[checkPosition.x, checkPosition.y]);
}
return(neighbours);
}
public override Solution <TMove> Solve(AGame <TMove> game, ANode <TMove> finalState)
{
Solution <TMove> r = null;
int count = this.GetStepCount(game);
for (int k = 0; k < count; k++)
{
var partFinalState = this.BuildSolutionStep(game, finalState, k + 1);
base.FilterNode = this.BuildFilterNode(game, finalState, k + 1, partFinalState);
Solution <TMove> partial = base.Solve(game, partFinalState);
System.Diagnostics.Debug.WriteLine($"Finished step {k + 1} of {count}");
if (partial.Last != null)
{
game.State = partial.Last;
}
else
{
System.Diagnostics.Debug.WriteLine("Could not reach exact solution, is puzzle feasible?");
return(r);
}
r += partial;
}
return(r);
}
protected virtual void OnSelectedNode(ANode node)
{
if (_HeroCharacter != null)
{
_HeroCharacter.MoveToNode(node);
}
}
public static void CalHValue(this ANode node, ANode targetNode, int offset = 1, int unitPrice = 1)
{
int xDistance = Mathf.Abs(targetNode.x - node.x) / offset;
int yDistance = Mathf.Abs(targetNode.y - node.y) / offset;
node.H = (xDistance + yDistance) * unitPrice;
}
public ANode <Location> Dequeue()
{
ANode <Location> node = this.queue.First();
this.queue.Remove(node);
return(node);
}
/// 最小スコアのノードを取得する.
public ANode SearchMinScoreNodeFromCloseList(Vector2Int goalPos)
{
// 最小スコア
int min = 9999;
// 最小実コスト
int minCost = 9999;
ANode minNode = null;
foreach (ANode node in _closeList)
{
//Debug.Log (string.Format("({0},{1}) cost={2} score={3}", node.X, node.Y, node.Cost, node.GetScore()));
int score = node.CalcHeuristic(false, goalPos);
if (score > min)
{
// スコアが大きい
continue;
}
if (score == min && node.Cost >= minCost)
{
// スコアが同じときは実コストも比較する
continue;
}
// 最小値更新.
min = score;
minCost = node.Cost;
minNode = node;
}
return(minNode);
}
public void InsertNewNodeInOpenList(ANode <TMove> newNode)
{
// Insertion pour respecter l'ordre du cout total le plus petit au plus grand
if (this.graph.Opened.Count == 0)
{
this.graph.Opened.Add(newNode);
}
else
{
var N = this.graph.Opened[0];
bool trouve = false;
int i = 0;
do
{
if (newNode.TotalCost < N.TotalCost)
{
this.graph.Opened.Insert(i, newNode);
trouve = true;
}
else
{
i++;
if (this.graph.Opened.Count == i)
{
N = null;
this.graph.Opened.Insert(i, newNode);
}
else
{
N = this.graph.Opened[i];
}
}
} while ((N != null) && (trouve == false));
}
}
/// 周りをOpenする.
public void OpenAround(ANode parent)
{
var xbase = parent.X; // 基準座標(X).
var ybase = parent.Y; // 基準座標(Y).
var cost = parent.Cost; // コスト.
cost += 1; // 一歩進むので+1する.
if (_allowdiag)
{
// 8方向を開く.
for (int j = 0; j < 3; j++)
{
for (int i = 0; i < 3; i++)
{
var x = xbase + i - 1; // -1～1
var y = ybase + j - 1; // -1～1
OpenNode(x, y, cost, parent);
}
}
}
else
{
// 4方向を開く.
var x = xbase;
var y = ybase;
OpenNode(x - 1, y, cost, parent); // 右.
OpenNode(x, y - 1, cost, parent); // 上.
OpenNode(x + 1, y, cost, parent); // 左.
OpenNode(x, y + 1, cost, parent); // 下.
}
}
/// 指定の座標にあるノードをオープンする.
public ANode OpenNode(int x, int y, int cost, ANode parent)
{
// 座標をチェック.
if (_layer.IsOutOfRange(x, y))
{
// 領域外.
return(null);
}
if (_layer.Get(x, y) > 1)
{
// 通過できない.
return(null);
}
// ノードを取得する.
var node = GetNode(x, y);
if (node.IsNone() == false)
{
// 既にOpenしているので何もしない
return(null);
}
// Openする.
node.Open(parent, cost);
AddOpenList(node);
return(node);
}
public NodeDrawer(ANode node, bool isRoot = false)
{
_id = gNodeDrawerIdIncremental++;
_node = node;
_isRoot = isRoot;
_rect = new Rect(0f, 0f, gSize.x, gSize.y);
_currentIcon = _defaultIconPath;
}
public NodeDrawer(ANode node, bool isRoot = false)
{
_id = gNodeDrawerIdIncremental++;
_node = node;
_isRoot = isRoot;
_rect = new Rect(0f, 0f, gSize.x, gSize.y);
_currentIcon = _defaultIconPath;
}
public void Initialize(params char[] values)
{
Root = null;
foreach (var value in values)
{
Insert(value);
}
}
public static void CalFValue(this ANode node)
{
if (node.G == 0 && node.H == 0)
{
return;
}
node.F = node.G + node.H;
}
// Base constructor
public ANode(Vector3 point, bool inWaterBody, Vector3 destination, ANode preceding, float bridgePenalty)
{
this.point = point;
this.inWaterBody = inWaterBody;
this.destination = destination;
this.preceding = preceding;
this.bridgePenalty = bridgePenalty;
}
public ANode(Vector2 vector, float costFromStart, float costToGoal, ANode parent)
{
this.vector = vector;
this.costFromStart = costFromStart;
this.costToGoal = costToGoal;
TotalCost = costToGoal + costFromStart;
this.parent = parent;
}
// 노드를 기반으로 선형연결리스트처럼 노드를 이어줌
public IEnumerator SearchPath(Vector3 startPos, Vector3 endPos)
{
yield return(null);
bool isSuccess = false;
m_startNode = m_buildGrid.GetNode(startPos);
m_endNode = m_buildGrid.GetNode(endPos);
if (m_startNode.IsWalkable && m_endNode.IsWalkable)
{
List <ANode> openNode = new List <ANode>();
HashSet <ANode> closeNode = new HashSet <ANode>();
openNode.Add(m_startNode);
while (openNode.Count > 0)
{
ANode current = openNode[0];
for (int i = 1; i < openNode.Count; ++i)
{
if (openNode[i].GetFCost < current.GetFCost || openNode[i].GetFCost == current.GetFCost && openNode[i].HCost < current.HCost)
{
current = openNode[i];
}
}
openNode.Remove(current);
closeNode.Add(current);
if (current == m_endNode)
{
isSuccess = true;
break;
}
foreach (ANode node in m_buildGrid.GetNeighbourNode(current))
{
if (!node.IsWalkable || closeNode.Contains(node))
{
continue;
}
int currentNeighbourCost = current.GCost + GetCost(node, m_endNode);
if (currentNeighbourCost < node.GCost || !openNode.Contains(node))
{
node.GCost = currentNeighbourCost;
node.HCost = GetCost(node, m_endNode);
node.PrevNode = current;
if (!openNode.Contains(node))
{
openNode.Add(node);
}
}
}
}
}
AStarMng.Instance.CompleteProcess(isSuccess ? GetPath(startPos, endPos) : null);
}
public bool FindPath(Cell start, Cell target)
{
ANode startNode = grid[start.GetPosition().x, start.GetPosition().y];
ANode targetNode = grid[target.GetPosition().x, target.GetPosition().y];
List <ANode> openSet = new List <ANode>();
List <ANode> closedSet = new List <ANode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
ANode currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if ((openSet[i].fCost() < currentNode.fCost() ||
openSet[i].fCost() == currentNode.fCost()) &&
openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
visited.Add(currentNode);
if (currentNode == targetNode)
{
path = RetracePath(startNode, targetNode);
return(true);
}
foreach (ANode neighbour in GetNeighbours(currentNode))
{
if (!(neighbour.walkable) || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
return(false);
}
private AGrid()
{
mGrid = new ANode[82, 82];
for (int i = 0; i < 82; i++)
{
for (int j = 0; j < 82; j++)
{
mGrid[i, j] = new ANode(new Vector2(i, j));
}
}
}
protected TreeNode(ANode aNode, int kind, Database database)
: base(aNode, kind, database)
{
}
//Should only be called from Node.Get()
internal ProcessingInstruction(ANode aNode, Database database)
: base(aNode, Data.PI, database)
{
}
private void DebugResult(ANode node, bool result)
{
foreach(NodeDrawer drawer in _nodeDrawers) {
if(drawer.Node == node) {
drawer.SetDebugInfo(result);
return;
}
}
}
private void NodeLeftClicked(ANode node)
{
if (_tree == null || !_tree.Nodes.Contains(node)) {
return;
}
Selection.activeObject = node;
if(_startConnection != null) {
if(_startConnection != node && _tree.ConnectNodes(_startConnection, node)) {
AssetDatabase.SaveAssets();
}
_startConnection = null;
}
}
/// <summary> /// Removes child node. /// </summary> /// <param name="node">Child node to remove.</param> /// <returns>True if removing succeed. Otherwise false.</returns> public abstract bool RemoveNode(ANode node);
//Should only be called from Node.Get()
internal Document(ANode aNode, Database database)
: base(aNode, Data.DOC, database)
{
}
/// 指定の座標にあるノードをオープンする.
public ANode OpenNode(int x, int y, int cost, ANode parent)
{
// 座標をチェック.
if(_layer.IsOutOfRange(x, y)) {
// 領域外.
return null;
}
if(_layer.Get(x, y) > 1) {
// 通過できない.
return null;
}
// ノードを取得する.
var node = GetNode(x, y);
if(node.IsNone() == false) {
// 既にOpenしているので何もしない
return null;
}
// Openする.
node.Open(parent, cost);
AddOpenList(node);
return node;
}
//Should only be called from Node.Get()
internal Comment(ANode aNode, Database database)
: base(aNode, Data.COMM, database)
{
}
//Should only be called from Node.Get()
internal Attribute(ANode aNode, Database database)
: base(aNode, Data.ATTR, database)
{
}
protected ContainerNode(ANode aNode, int kind, Database database)
: base(aNode, kind, database)
{
}
private void ShowContextMenu(ANode node)
{
if (_tree == null || !_tree.Nodes.Contains(node)) {
return;
}
GenericMenu menu = new GenericMenu();
if(node is AFlowNode) {
if(node != _tree.Root) {
menu.AddItem(new GUIContent("Make Root"), false, RootCallback, node);
} else {
menu.AddDisabledItem(new GUIContent("Make Root"));
}
menu.AddItem(new GUIContent("Connect"), false, ConnectCallback, node);
} else {
menu.AddDisabledItem(new GUIContent("Make Root"));
menu.AddDisabledItem(new GUIContent("Connect"));
}
menu.AddSeparator("");
menu.AddItem(new GUIContent("Delete"), false, DeleteCallback, node);
menu.ShowAsContext();
}
/// ステータスをOpenにする.
public void Open(ANode parent, int cost)
{
Debug.Log (string.Format("Open: ({0},{1})", X, Y));
_status = eStatus.Open;
_cost = cost;
_parent = parent;
}
/// <summary> /// Adds new node as a child. /// </summary> /// <param name="node">Node to be added as child.</param> /// <returns>True if adding succeed. Otherwise false.</returns> public abstract bool AddNode(ANode node);
/// ノード生成する.
public ANode GetNode(int x, int y)
{
var idx = _layer.ToIdx(x, y);
if(_pool.ContainsKey(idx)) {
// 既に存在しているのでプーリングから取得.
return _pool[idx];
}
// ないので新規作成.
var node = new ANode(x, y);
_pool[idx] = node;
// ヒューリスティック・コストを計算する.
node.CalcHeuristic(_allowdiag, _xgoal, _ygoal);
return node;
}
protected override void OnRun()
{
Vector2 destination2D = new Vector2 (destination.x, destination.z);
ANode endNode = null;
if (isInsideMapBoundaries (destination2D)) {
while (openList.Count != 0) {
// Pop open list
Vector2 current = openList.Values [0] [0];
ANode currentNode = openNodes [current];
openList.Values [0].RemoveAt (0);
if (openList.Values [0].Count == 0)
openList.RemoveAt (0);
openNodes.Remove (current);
closedNodes [current] = currentNode;
if (current != destination2D) {
Vector2[] adjacents = {
new Vector2 (current.x, current.y + 1),
new Vector2 (current.x + 1, current.y),
new Vector2 (current.x, current.y - 1),
new Vector2 (current.x - 1, current.y)
};
foreach (Vector2 adj in adjacents) {
if ((currentNode.preceding == null || adj != currentNode.preceding.point2D) && isInsideMapBoundaries(adj)) {
if (openNodes.ContainsKey (adj) || closedNodes.ContainsKey (adj)) { // Update the node
ANode adjNode = openNodes.ContainsKey (adj) ? openNodes [adj] : closedNodes [adj];
if (Mathf.Abs (adjNode.point.y - currentNode.point.y) <= maxSlope) {
if (currentNode.G + Vector3.Distance (currentNode.point, adjNode.point) * ((currentNode.inWaterBody || adjNode.inWaterBody) ? bridgePenalty : 1f) < adjNode.G) {
adjNode.preceding = currentNode;
}
}
} else { // Create the node
float adjY = getHeightValue (adj);
Vector3 adj3D = new Vector3 (adj.x, Mathf.Abs (adjY), adj.y);
if (Mathf.Abs (adj3D.y - currentNode.point.y) <= maxSlope) {
ANode newNode = new ANode (adj3D, adjY < 0, destination, currentNode, bridgePenalty);
float newF = newNode.F;
if (!openList.ContainsKey (newF))
openList [newF] = new List<Vector2> ();
openList [newF].Add (newNode.point2D);
openNodes [newNode.point2D] = newNode;
}
}
}
}
} else {
endNode = currentNode;
break;
}
}
}
output = new List<Vector3> ();
while (endNode != null) {
output.Add (endNode.point / resolution);
endNode = endNode.preceding;
}
}
//Should only be called from Node.Get()
internal Element(ANode aNode, Database database)
: base(aNode, Data.ELEM, database)
{
}
/// <summary>
/// オープンノードリスト追加メソッド
/// <para> 指定したノードをオープンリストに追加する。
/// </summary>
/// <param name="node">オープンノードリストに追加するノード</param>
public void AddOpenNodeList(ANode addNode)
{
_openList.Add(addNode);
}
/// ノードをオープンリストに追加する.
public void AddOpenList(ANode node)
{
_openList.Add(node);
}
/// <summary>
/// ノード生成メソッド
/// <para> ノードを生成する。</para>
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <returns>作成したノード</returns>
public ANode GetNode(int x, int y)
{
// 座標をインデックスに変換する
var idx = _layer.ToIdx(x, y);
if(_nodeList.ContainsKey(idx))
{
// インデックスがノードリストに既に存在している場合はそれを返す
return _nodeList[idx];
}
// インデックスがノードリストに存在しない場合は新規で作成し、連想配列に追加する
var node = new ANode(x, y);
_nodeList[idx] = node;
// ノードのヒューリスティック・コストを計算する
node.CalcHeuristic(_allowdiag, _xgoal, _ygoal);
return node;
}
/// 周りをOpenする.
public void OpenAround(ANode parent)
{
var xbase = parent.X; // 基準座標(X).
var ybase = parent.Y; // 基準座標(Y).
var cost = parent.Cost; // コスト.
cost += 1; // 一歩進むので+1する.
if(_allowdiag) {
// 8方向を開く.
for(int j = 0; j < 3; j++) {
for(int i = 0; i < 3; i++) {
var x = xbase + i - 1; // -1～1
var y = ybase + j - 1; // -1～1
OpenNode(x, y, cost, parent);
}
}
}
else {
// 4方向を開く.
var x = xbase;
var y = ybase;
OpenNode (x-1, y, cost, parent); // 右.
OpenNode (x, y-1, cost, parent); // 上.
OpenNode (x+1, y, cost, parent); // 左.
OpenNode (x, y+1, cost, parent); // 下.
}
}
/// <summary>
/// 周囲ノードOpenメソッド
/// <para> 周囲のノードをOpenにする。
/// </summary>
/// <param name="parentNode">親ノード</param>
public void OpenAround(ANode parentNode)
{
// 基準座標XとY
var xbase = parentNode.X;
var ybase = parentNode.Y;
// コスト
var cost = parentNode.Cost;
cost += 1; // 一歩進むので+1する.
if(_allowdiag)
{
// 斜め移動ありの場合（8方向を開く）
for(int j = 0; j < 3; j++) {
for(int i = 0; i < 3; i++) {
var x = xbase + i - 1; // -1～1
var y = ybase + j - 1; // -1～1
// 上下左右＋斜めのパネルをオープンにし、オープンノードリストに追加する
OpenNode(x, y, cost, parentNode);
}
}
}
else
{
// 斜め移動なしの場合（4方向を開く）
var x = xbase;
var y = ybase;
// 上下左右のパネルをオープンにし、オープンノードリストに追加する
OpenNode (x-1, y, cost, parentNode); // 右.
OpenNode (x, y-1, cost, parentNode); // 上.
OpenNode (x+1, y, cost, parentNode); // 左.
OpenNode (x, y+1, cost, parentNode); // 下.
}
}
/// ノードをオープンリストから削除する.
public void RemoveOpenList(ANode node)
{
_openList.Remove(node);
}
/// <summary>
/// 指定座標ステータスOpenメソッド
/// <para> 通過不能オブジェクト判定、およびパネルステータスがNONEか否かを</para>
/// <para> 判定し、判定を通ったノードのステータスをOpenにする。</para>
/// <para> また、オープンノードリスト（_openList）への追加も本メソッド内にて行う。</para>
/// </summary>
/// <param name="x">指定座標X</param>
/// <param name="y">指定座標Y</param>
/// <param name="cost">コスト</param>
/// <param name="parentNode">親ノード</param>
/// <returns></returns>
public ANode OpenNode(int x, int y, int cost, ANode parentNode)
{
// 座標をチェック
if(_layer.IsOutOfRange(x, y))
{
// 領域外の場合はOpenリストに追加できないためメソッドを抜ける
return null;
}
if(_layer.Get(x, y) > 1)
{
// 通過不能オブジェクトで通れない場合はOpenリストに追加できないためメソッドを抜ける
return null;
}
// ノードをノードリストから取得する。無ければ作成する
var node = GetNode(x, y);
if(node.IsNone() == false)
{
// パネルのステータスがNONE以外の場合はOpenリストに追加できないためメソッドを抜ける
return null;
}
// ノードをOpenし、オープンノードリストへそのノードを追加する
node.Open(parentNode, cost);
AddOpenNodeList(node);
return node;
}
/// <summary>
/// オープンノードリスト削除メソッド
/// <para> 指定したノードをオープンリストから削除する。</para>
/// </summary>
/// <param name="node">オープンノードリストから削除するノード</param>
public void RemoveOpenNodeList(ANode deleteNode)
{
_openList.Remove(deleteNode);
}
//Should only be called from Node.Get()
internal Text(ANode aNode, Database database)
: base(aNode, Data.TEXT, database)
{
}
