public void inicialize()
{
for (int i = 0; i < sizeMapX; i++)
{
for (int j = 0; j < sizeMapZ; j++)
{
if (map[i, j] != Mathf.Infinity)
{
CustomGrid.coordinate gridOrigin = new CustomGrid.coordinate {
x = i, y = j
};
switch (heuristic)
{
case Heuristic.Manhattan: { map[i, j] = 1 * ((Mathf.Abs(gridTarget.x - gridOrigin.x) + Mathf.Abs(gridTarget.y - gridOrigin.y))); break; }
case Heuristic.Chebychev: { map[i, j] = 1 * Mathf.Max((Mathf.Abs(gridTarget.x - gridOrigin.x) + Mathf.Abs(gridTarget.y - gridOrigin.y))); break; }
case Heuristic.Euclidean: { map[i, j] = 1 * Vector2.Distance(new Vector2(gridTarget.x, gridTarget.y), new Vector2(gridOrigin.x, gridOrigin.y)); break; }
}
}
}
}
firstTime = false;
path.Clear();
}
public void targetMayChange(GameObject target) // Check if the target has been changed, in that case reset the distances in the map.
{
if (gridTarget.x == -1)
{
return; // First time, already inicialize
}
CustomGrid.coordinate newgridTarget = grid.map2grid(target.transform.position.x, target.transform.position.z); // possible new position
if (gridTarget.x != newgridTarget.x || gridTarget.y != newgridTarget.y)
{
inicialize(); // Target change, reset ditance
}
// Target is the same as before, do nothing
}
private void OnDrawGizmos()
{
if (path.Count > 0) // To show the path
{
for (int i = 0; i + 1 < path.Count; i++)
{
Gizmos.color = Color.green;
CustomGrid.coordinate cor = new CustomGrid.coordinate {
x = path[i].x, y = path[i].z
};
Vector3 from = new Vector3(cor.x, transform.position.y + 0.1f, cor.y);
CustomGrid.coordinate cor2 = new CustomGrid.coordinate {
x = path[i + 1].x, y = path[i + 1].z
};
Vector3 to = new Vector3(cor2.x, transform.position.y + 0.1f, cor2.y);
Gizmos.DrawLine(from, to);
}
}
}
public Movement getSteering(GameObject target, GameObject character, float maxVelocity, float maxAceleration, float maxAngularVelocity, float maxAcelerationVelocity, float orientation, Vector3 characterVelocity)
{
/* 1. Exit condition -> Be in the same grid as the target */
Movement doNotMove = new Movement
{
Angularsteering = orientation,
Linealsteering = Vector3.zero,
};
if (target == null || character == null)
{
return(doNotMove);
}
targetMayChange(target); // In case the target change we should restart de distances
gridTarget = grid.map2grid(target.transform.position.x, target.transform.position.z); // Target in our grid
gridCharacter = grid.map2grid(character.transform.position.x, character.transform.position.z); // Character in our grid
if (gridTarget.x == gridCharacter.x && gridTarget.y == gridCharacter.y)
{
return(doNotMove); // Target has been achieved
}
if (firstTime)
{
inicialize(); // Inicialize the map with the heuristics distances
}
/* 2. Local Space of Search -> Minimum in our case */
CustomGrid.coordinate gridActual;
if (path.Count == 0)
{
gridActual = gridCharacter;
}
else
{
gridActual = new CustomGrid.coordinate {
x = path[path.Count - 1].x, y = path[path.Count - 1].z
};
gridActual = grid.map2grid(gridActual.x, gridActual.y);
}
/* 3 Do Action if it is calculated */
if (gridActual.x == gridTarget.x && gridActual.y == gridTarget.y) // Target is one of the path calculated, just move throgh the points
{
return(base.getSteering(target, character, maxVelocity, maxAceleration, maxAngularVelocity, maxAcelerationVelocity, orientation, characterVelocity));
}
// Continue calculating the path.... if it is not yet
LinkedList <CustomGrid.coordinate> posibleStep = new LinkedList <CustomGrid.coordinate>();
if (esValida(gridActual.x + 1, gridActual.y))
{
posibleStep.AddLast(new CustomGrid.coordinate {
x = gridActual.x + 1, y = gridActual.y
});
}
if (esValida(gridActual.x, gridActual.y + 1))
{
posibleStep.AddLast(new CustomGrid.coordinate {
x = gridActual.x, y = gridActual.y + 1
});
}
if (esValida(gridActual.x - 1, gridActual.y))
{
posibleStep.AddLast(new CustomGrid.coordinate {
x = gridActual.x - 1, y = gridActual.y
});
}
if (esValida(gridActual.x, gridActual.y - 1))
{
posibleStep.AddLast(new CustomGrid.coordinate {
x = gridActual.x, y = gridActual.y - 1
});
}
if (posibleStep.Count == 0)
{
return(doNotMove); // No posible path
}
CustomGrid.coordinate gridNextStep = posibleStep.First.Value;
foreach (CustomGrid.coordinate casilla in posibleStep) // min of the 4 directions
{
if (map[(int)Mathf.Round(casilla.x), (int)Mathf.Round(casilla.y)] < map[(int)Mathf.Round(gridNextStep.x), (int)Mathf.Round(gridNextStep.y)])
{
gridNextStep = casilla;
}
}
if (map[(int)gridNextStep.x, (int)gridNextStep.y] == Mathf.Infinity)
{
return(doNotMove);
}
gridNextStep = grid.grid2map(gridNextStep.x, gridNextStep.y);
path.Add(new Vector3(gridNextStep.x, character.transform.position.y, gridNextStep.y));
/* 3 Do Action while calculating the path */
Movement action = base.getSteering(target, character, maxVelocity, maxAceleration, maxAngularVelocity, maxAcelerationVelocity, orientation, characterVelocity);
/* 4 Update cost */
map[(int)gridActual.x, (int)gridActual.y] = Mathf.Max(1 + map[(int)gridActual.x, (int)gridActual.y], map[(int)gridActual.x, (int)gridActual.y]);
return(action);
}