void OnMapReset()
{
if (openHeap == null)
{
openHeap = new NodeHeap();
}
openHeap.InitHeap(navMesh.nodes);
readyToPathfind = true;
}
void Start()
{
nodes = new Heap <NodeHeap> ();
GameObject nodeGo = (GameObject)Instantiate(nodeprefab);
NodeHeap node = nodeGo.GetComponent <NodeVisual> ().node;
node.g = nodeGo;
nodes.Add(node);
node.Position = Vector3.zero;
}
// Start is called before the first frame update
void Start()
{
navMesh = GetComponent <NavMesh3>();
moves = new List <Vector3>();
smoothMoves = new List <Vector3>();
roughMoves = new List <Vector3>();
funneledMoves = new List <Vector3>();
if (openHeap == null)
{
openHeap = new NodeHeap();
}
if (navMesh != null && navMesh.nodes != null)
{
openHeap.InitHeap(navMesh.nodes);
readyToPathfind = true;
}
}
void Update()
{
if (Input.GetMouseButtonDown(0))
{
Vector3 inputPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
inputPos.z = 0;
RaycastHit2D hit = Physics2D.Raycast(inputPos, Vector3.zero, int.MaxValue);
if (hit)
{
hit.transform.GetComponent <NodeVisual> ().node.nodeValue = Random.Range(0, 100);
hit.transform.GetComponentInChildren <TextMesh> ().text = hit.transform.GetComponent <NodeVisual> ().node.nodeValue.ToString();
nodes.UpdateItem(hit.transform.GetComponent <NodeVisual> ().node);
}
else
{
GameObject nodeGo = (GameObject)Instantiate(nodeprefab);
NodeHeap node = nodeGo.GetComponent <NodeVisual> ().node;
node.g = nodeGo;
nodes.Add(node);
}
foreach (NodeHeap n in nodes)
{
n.g.transform.position = n.Position;
}
}
if (Input.GetKeyDown(KeyCode.Space))
{
NodeHeap removingNode = nodes.RemoveFirst();
Destroy(removingNode.g);
foreach (NodeHeap n in nodes)
{
n.g.transform.position = n.Position;
}
}
}
public List <Vector3> FindPath(Node deptNode, Node destNode)
{
NodeHeap openHeap = new NodeHeap();
HashSet <Node> closedSet = new HashSet <Node>();
openHeap.Add(deptNode);
deptNode.fromCost = deptNode.toCost = 0;
deptNode.from = destNode.from = null;
while (openHeap.Count > 0)
{
Node nodeToVisit = openHeap.Pop();
closedSet.Add(nodeToVisit);
if (nodeToVisit == destNode)
{
break;
}
foreach (var adjacent in GetAdjacents(nodeToVisit))
{
if (closedSet.Contains(adjacent))
{
continue;
}
Node fromNode = null;
if (nodeToVisit.from != null && nodeToVisit.from.IsLineOfSight(adjacent))
{
fromNode = nodeToVisit.from;
}
else
{
fromNode = nodeToVisit;
}
int toAdjacentCost = fromNode.toCost + PredictDistanceCost(fromNode, adjacent);
if (!openHeap.Contains(adjacent) || toAdjacentCost < adjacent.toCost)
{
adjacent.toCost = toAdjacentCost;
adjacent.fromCost = PredictDistanceCost(adjacent, destNode);
adjacent.from = fromNode;
if (openHeap.Contains(adjacent))
{
openHeap.UpdateItem(adjacent);
}
else
{
openHeap.Add(adjacent);
}
}
}
}
List <Node> path = new List <Node>();
if (destNode.from != null)
{
Node currentNode = destNode;
while (currentNode != null)
{
path.Add(currentNode);
currentNode = currentNode.from;
}
path.Reverse();
}
// PS
// SmoothingPath(path);
List <Vector3> positionPath = new List <Vector3>();
// Visit departure node looks wired when path is changed
// Skip first(departure) node
for (int i = 1; i < path.Count; i++)
{
positionPath.Add(path[i].tile.transform.position);
}
return(positionPath);
}
void Awake()
{
node = new NodeHeap();
GetComponentInChildren <TextMesh> ().text = node.nodeValue.ToString();
}
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos, NodeGrid grid)
{
Vector3[] waypoints = new Vector3[0];
bool pathSucces = false;
if (grid != null)
{
Node startNode = grid.GetNodeFromWorldPoint(startPos);
Node targetNode = grid.GetNodeFromWorldPoint(targetPos);
if (/*startNode.walkable && */ targetNode.walkable)
{
NodeHeap openSet = new NodeHeap(grid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathSucces = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
if (newCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSucces)
{
waypoints = RetracePath(startNode, targetNode, grid);
pathSucces = (waypoints.Length > 0);
}
requestManager.FinishProcessingPath(waypoints, pathSucces);
}
}