public List <Cell> FindPath(Vector2Int start, Vector2Int goal)
{
Cell startCell = _cells[start.x, start.y];
Cell goalCell = _cells[goal.x, goal.y];
return(_pathfinder.AStar(startCell, goalCell));
}
private void AdvanceStage()
{
if (_stage == Stage.Start)
{
_stage = Stage.PlottingBlock;
ResetEditor();
}
else if (_stage == Stage.PlottingBlock)
{
_stage = Stage.PlottingStart;
}
else if (_stage == Stage.PlottingStart)
{
_stage = Stage.PlottingEnd;
}
else if (_stage == Stage.PlottingEnd)
{
_stage = Stage.Run;
}
else if (_stage == Stage.Run)
{
_stage = Stage.Start;
AdvanceStage();
return;
}
switchStage:
switch (_stage)
{
case Stage.PlottingBlock:
helper.text = "Click on any square to toggle it (If you create a block path, the creator will force you to repeat)\nPress space to plot a starting point";
break;
case Stage.PlottingStart:
helper.text = "Click on any square to place a start position\nPress space to plot an ending point";
break;
case Stage.PlottingEnd:
helper.text = "Click on any square to place an end position\nPress space to run the pathfinder";
break;
case Stage.Run:
_path = _pather.AStar(_tempStart, _tempEnd);
if (_path.Count == 0)
{
_stage = Stage.PlottingBlock;
goto switchStage;
}
helper.text = "Press Enter to Play\nPress Space to Repath";
if (_path.Count > 0)
{
_line.positionCount = _path.Count;
StartCoroutine(RenderLine());
}
break;
}
}
// Update is called once per frame
void Update()
{
_validConnections.Clear();
var cities = GetCities();
var generators = Tiles.Where(t => t is Generator).ToList();
foreach (var generator in generators)
{
foreach (var city in cities)
{
List <Tile> possiblePath;
List <Tile> excludeTiles = new List <Tile>();
do
{
possiblePath = Pathfinder.AStar(Tiles, generator, city, Heuristic, GetNeighbors, excludeTiles);
if (possiblePath != null)
{
_validConnections.Add(possiblePath);
excludeTiles.AddRange(possiblePath.GetRange(1, possiblePath.Count - 1));
}
} while (possiblePath != null);
}
}
}
private void Update()
{
if (canSetWalls == true)
{
SetBlocks();
}
else
{
GetNeighbors();
}
if (canSetStartAndGoal == true)
{
SetStartAndGoal();
}
if (startPathfinder == true)
{
if (pathfinder.pathfinderMode == Mode.BreadthFirstSearch)
{
StartCoroutine(pathfinder.BFS(nodes[yStart, xStart], nodes[yGoal, xGoal]));
}
else if (pathfinder.pathfinderMode == Mode.Dijkstra)
{
StartCoroutine(pathfinder.Dijkstra(nodes[yStart, xStart], nodes[yGoal, xGoal]));
}
else if (pathfinder.pathfinderMode == Mode.AStar)
{
StartCoroutine(pathfinder.AStar(nodes[yStart, xStart], nodes[yGoal, xGoal]));
}
startPathfinder = false;
}
}
static public void AStarPathCanBeRun()
{
NodeGraph graph = new NodeGraph();
ushort start = graph.AddNode();
ushort mid = graph.AddNode();
ushort end = graph.AddNode();
graph.AddEdge(start, mid);
graph.AddEdge(mid, start);
graph.AddEdge(end, mid);
graph.AddEdge(mid, end);
graph.OptimizeEdgeOrder();
NodePath path = new NodePath();
bool bFoundPath = Pathfinder.AStar(graph, ref path, start, end);
Assert.IsTrue(bFoundPath);
}
private void DrawRange()
{
rangeOverlayMap.ClearAllTiles();
Vector3Int start = pathfinder.GetPath()[0];
int length = pathfinder.maxLength;
if (length == 0)
{
List <Vector3Int> attackingTiles = unitController.GetAttackableTiles(unitController.GetSelectedUnit().position);
DisplayCurrentAttackRange(attackingTiles);
showingRange = true;
return;
}
Dictionary <Vector3Int, RangeStatus> highlightStatuses = new Dictionary <Vector3Int, RangeStatus>();
List <Unit> unitsInRange = new List <Unit>();
for (int i = length * -1; i <= length; i++)
{
for (int j = length * -1; j <= length; j++)
{
Vector3Int dest = new Vector3Int(start.x + i, start.y + j, 0);
if ((Mathf.Abs(i) + Mathf.Abs(j)) > length || unitController.CheckForUnit(dest) != null) //if true, always out of range even if there would be a direct path
{
continue;
}
if (movementGrid.GetMovementTile(dest) != null)
{
List <Vector3Int> testPath = pathfinder.AStar(start, dest, new List <Vector3Int> {
start
});
if (testPath == null) //pathfinding escaped, no path
{
List <Vector3Int> attackingTiles = unitController.GetAttackableTiles(unitController.GetSelectedUnit().position);
DisplayCurrentAttackRange(attackingTiles);
}
else if (testPath.Count > 0 && testPath[testPath.Count - 1] == dest) //there is a valid path to the coordinates
{
List <Vector3Int> attackingTiles = unitController.GetAttackableTiles(testPath[testPath.Count - 1]);
foreach (Vector3Int location in attackingTiles)
{
if (movementGrid.GetMovementTile(location) == null)
{
Debug.Log("Attack location out of bounds: " + location);
continue;
}
//Debug.Log("Enter Attack Highlight for location: " + location);
if (!highlightStatuses.ContainsKey(location))
{
Unit unitAtLocation = unitController.CheckForUnit(location);
if (unitAtLocation != null)
{
if (unitAtLocation.teamNumber == unitController.GetSelectedUnit().teamNumber)
{
//Debug.Log("Marked blocked by ally");
highlightStatuses.Add(location, RangeStatus.BlockedByAlly);
}
else
{
//Debug.Log("Marked blocked by enemy");
highlightStatuses.Add(location, RangeStatus.BlockedByEnemy);
unitsInRange.Add(unitAtLocation);
rangeOverlayMap.SetTile(location, attackTileHighlight);
}
}
else
{
//Debug.Log("Marked attacking");
highlightStatuses.Add(location, RangeStatus.Attack);
rangeOverlayMap.SetTile(location, attackTileHighlight);
}
}
}
foreach (Vector3Int location in testPath)
{
if (highlightStatuses.ContainsKey(location))
{
if (highlightStatuses[location] == RangeStatus.Movement || highlightStatuses[location] == RangeStatus.BlockedByAlly || highlightStatuses[location] == RangeStatus.BlockedByEnemy)
{
continue;
}
else
{
highlightStatuses[location] = RangeStatus.Movement;
rangeOverlayMap.SetTile(location, movementTileHighlight);
}
}
else if (unitController.CheckForUnit(location) != null)
{
if (unitController.CheckForUnit(location).teamNumber == unitController.GetSelectedUnit().teamNumber)
{
highlightStatuses.Add(location, RangeStatus.BlockedByAlly);
}
}
else
{
highlightStatuses.Add(location, RangeStatus.Movement);
rangeOverlayMap.SetTile(location, movementTileHighlight);
}
}
}
}
}
}
unitController.SetUnitsInAttackRange(unitsInRange);
showingRange = true;
}
private void OnNodeClick(ushort inNodeId)
{
Stopwatch timer = Stopwatch.StartNew();
Pathfinder.AStar(m_NodeGraph, ref m_PathBuffer, m_CurrentNode, inNodeId, Pathfinder.ManhattanDistanceHeuristic, default, Pathfinder.Flags.ReturnClosestPath);