static void AnalyzeNode()
{
if (!GridHeap.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.Add(neighbor);
}
else if (newMovementCostToNeighbor < neighbor.gCost)
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.UpdateItem(neighbor);
}
}
/// <summary>
/// Finds a path and outputs it to <c>outputPath</c>. Note: outputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="outputPath">Return path.</param>
public static bool FindPath(GridNode _startNode, GridNode _endNode, FastList <GridNode> _outputPath, int _unitSize = 1)
{
startNode = _startNode;
endNode = _endNode;
outputPath = _outputPath;
unitSize = _unitSize;
#region Broadphase and Preperation
if (endNode.Unwalkable)
{
return(false);
}
if (startNode.Unwalkable)
{
return(false);
}
outputPath.FastClear();
if (System.Object.ReferenceEquals(startNode, endNode))
{
outputPath.Add(endNode);
return(true);
}
GridHeap.FastClear();
GridClosedSet.FastClear();
#endregion
#region AStar Algorithm
GridHeap.Add(startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
GridNode.PrepareUnpassableCheck(unitSize); //Prepare Unpassable check optimizations
while (GridHeap.Count > 0)
{
currentNode = GridHeap.RemoveFirst();
#if false
Gizmos.DrawCube(currentNode.WorldPos.ToVector3(), Vector3.one);
#endif
GridClosedSet.Add(currentNode);
if (currentNode.gridIndex == endNode.gridIndex)
{
//Retraces the path then outputs it into outputPath
//Also Simplifies the path
DestinationReached();
return(true);
}
/*
* for (i = 0; i < 8; i++) {
* neighbor = currentNode.NeighborNodes [i];
* if (CheckNeighborInvalid ()) {
* //continue;
* //microoptimization... continue is more expensive than letting the loop pass at the end
* } else {
* //0-3 = sides, 4-7 = diagonals
* if (i < 4) {
* newMovementCostToNeighbor = currentNode.gCost + 100;
* } else {
* if (i == 4) {
* if (!GridManager.UseDiagonalConnections)
* break;
* }
* newMovementCostToNeighbor = currentNode.gCost + 141;
* }
*
* AnalyzeNode();
* }
* }
*/
hasInvalidEdge = false;
for (int i = 0; i < 4; i++)
{
neighbor = currentNode.NeighborNodes[i];
if (CheckNeighborInvalid())
{
hasInvalidEdge = true;
}
else
{
newMovementCostToNeighbor = currentNode.gCost + 100;
AnalyzeNode();
}
}
if (hasInvalidEdge)
{
const int maxCornerObstructions = 1;
#region inlining diagonals
neighbor = currentNode.NeighborNodes[4];
if (!CheckNeighborInvalid())
{
if (GetObstructionCount(0, 1) <= maxCornerObstructions)
{
newMovementCostToNeighbor = currentNode.gCost + 141;
AnalyzeNode();
}
}
neighbor = currentNode.NeighborNodes[5];
if (!CheckNeighborInvalid())
{
if (GetObstructionCount(0, 2) <= maxCornerObstructions)
{
newMovementCostToNeighbor = currentNode.gCost + 141;
AnalyzeNode();
}
}
neighbor = currentNode.NeighborNodes[6];
if (!CheckNeighborInvalid())
{
if (GetObstructionCount(3, 1) <= maxCornerObstructions)
{
newMovementCostToNeighbor = currentNode.gCost + 141;
AnalyzeNode();
}
}
neighbor = currentNode.NeighborNodes[7];
if (!CheckNeighborInvalid())
{
if (GetObstructionCount(3, 2) <= maxCornerObstructions)
{
newMovementCostToNeighbor = currentNode.gCost + 141;
AnalyzeNode();
}
}
#endregion
}
else
{
//no need for specific stuff when edges are all valid
for (int i = 4; i < 8; i++)
{
neighbor = currentNode.NeighborNodes[i];
if (CheckNeighborInvalid())
{
}
else
{
newMovementCostToNeighbor = currentNode.gCost + 141;
AnalyzeNode();
}
}
}
}
#endregion
return(false);
}
/// <summary>
/// Finds a path and outputs it to <c>outputPath</c>. Note: outputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="outputPath">Return path.</param>
public static bool FindPath(GridNode startNode, GridNode endNode, FastList <GridNode> outputPath)
{
#region Broadphase and Preperation
if (endNode.Unwalkable)
{
return(false);
}
if (startNode.Unwalkable)
{
return(false);
}
outputPath.FastClear();
if (System.Object.ReferenceEquals(startNode, endNode))
{
outputPath.Add(endNode);
return(true);
}
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
GridHeap.FastClear();
GridClosedSet.FastClear();
#endregion
#region AStar Algorithm
GridHeap.Add(startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
while (GridHeap.Count > 0)
{
currentNode = GridHeap.RemoveFirst();
GridClosedSet.Add(currentNode);
if (currentNode.gridIndex == endNode.gridIndex)
{
//Retraces the path then outputs it into outputPath
//Also Simplifies the path
outputPath.FastClear();
TracePath.FastClear();
currentNode = endNode;
StartNodeIndex = startNode.gridIndex;
while (currentNode.gridIndex != StartNodeIndex)
{
TracePath.Add(currentNode);
oldNode = currentNode;
currentNode = currentNode.parent;
}
oldNode = startNode;
currentNode = TracePath [TracePath.Count - 1];
oldX = currentNode.gridX - oldNode.gridX;
oldY = currentNode.gridY - oldNode.gridY;
for (i = TracePath.Count - 2; i >= 0; i--)
{
oldNode = currentNode;
currentNode = TracePath.innerArray [i];
newX = currentNode.gridX - oldNode.gridX;
newY = currentNode.gridY - oldNode.gridY;
if (newX != oldX || newY != oldY)
{
outputPath.Add(oldNode);
oldX = newX;
oldY = newY;
}
//outputPath.Add (currentNode);
}
outputPath.Add(endNode);
return(true);
}
for (i = 0; i < 8; i++)
{
neighbor = currentNode.NeighborNodes [i];
if (neighbor == null || neighbor.Unwalkable || GridClosedSet.Contains(neighbor))
{
continue;
}
newMovementCostToNeighbor = currentNode.gCost + (GridNode.IsNeighborDiagnal [i] ? 141 : 100);
if (!GridHeap.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.Add(neighbor);
}
else if (newMovementCostToNeighbor < neighbor.gCost)
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.UpdateItem(neighbor);
}
}
}
#endregion
return(false);
}
/// <summary>
/// Finds a path and outputs it to <c>OutputPath</c>. Note: OutputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="OutputPath">Return path.</param>
public static bool FindPath(GridNode startNode, GridNode endNode, FastList <GridNode> OutputPath)
{
#region Broadphase and Preperation
if (endNode.Unwalkable)
{
return(false);
}
if (startNode.Unwalkable)
{
return(false);
}
if (true)
{
#region Obstruction Test
//Tests if there is a direct path. If there is, no need to run AStar.
x0 = startNode.gridX;
y0 = startNode.gridY;
x1 = endNode.gridX;
y1 = endNode.gridY;
if (y1 > y0)
{
compare1 = y1 - y0;
}
else
{
compare1 = y0 - y1;
}
if (x1 > x0)
{
compare2 = x1 - x0;
}
else
{
compare2 = x0 - x1;
}
steep = compare1 > compare2;
if (steep)
{
t = x0; // swap x0 and y0
x0 = y0;
y0 = t;
t = x1; // swap x1 and y1
x1 = y1;
y1 = t;
}
if (x0 > x1)
{
t = x0; // swap x0 and x1
x0 = x1;
x1 = t;
t = y0; // swap y0 and y1
y0 = y1;
y1 = t;
}
dx = x1 - x0;
dy = (y1 - y0);
if (dy < 0)
{
dy = -dy;
}
error = dx / 2;
ystep = (y0 < y1) ? 1 : -1;
y = y0;
for (x = x0; x <= x1; x++)
{
retX = (steep ? y : x);
retY = (steep ? x : y);
if (GridManager.Grid [retX * GridManager.NodeCount + retY].Unwalkable)
{
break;
}
else if (x == x1)
{
OutputPath.FastClear();
OutputPath.Add(startNode);
OutputPath.Add(endNode);
return(true);
}
error = error - dy;
if (error < 0)
{
y += ystep;
error += dx;
}
}
#endregion
}
GridHeap.FastClear();
GridClosedSet.FastClear();
#endregion
#region AStar Algorithm
GridHeap.Add(startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
while (GridHeap.Count > 0)
{
currentNode = GridHeap.RemoveFirst();
GridClosedSet.Add(currentNode);
if (currentNode.gridIndex == endNode.gridIndex)
{
OutputPath.FastClear();
//Retraces the path then outputs it into OutputPath
//Also Simplifies the path
oldNode = endNode;
currentNode = endNode.parent;
oldX = int.MaxValue;
oldY = int.MaxValue;
StartNodeIndex = startNode.gridIndex;
//if (!endNode.Obstructed) OutputPath.Add (endNode);
while (oldNode.gridIndex != StartNodeIndex)
{
newX = currentNode.gridX - oldNode.gridX;
newY = currentNode.gridY - oldNode.gridY;
if ((newX != oldX || newY != oldY))
{
OutputPath.Add(oldNode);
oldX = newX;
oldY = newY;
}
oldNode = currentNode;
currentNode = currentNode.parent;
}
OutputPath.Add(startNode);
OutputPath.Reverse();
return(true);
}
for (i = 0; i < 8; i++)
{
neighbor = currentNode.NeighborNodes [i];
if (neighbor == null || neighbor.Unwalkable || GridClosedSet.Contains(neighbor))
{
continue;
}
newMovementCostToNeighbor = currentNode.gCost + (currentNode.NeighborDiagnal [i] ? 141 : 100);
if (!GridHeap.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeurustic();
neighbor.parent = currentNode;
GridHeap.Add(neighbor);
}
else if (newMovementCostToNeighbor < neighbor.gCost)
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeurustic();
neighbor.parent = currentNode;
GridHeap.UpdateItem(neighbor);
}
}
}
#endregion
return(false);
}
/// <summary>
/// Finds a path and outputs it to <c>outputPath</c>. Note: outputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="outputPath">Return path.</param>
public static bool FindPath(GridNode _startNode, GridNode _endNode, FastList <GridNode> _outputPath, int _unitSize = 1)
{
startNode = _startNode;
endNode = _endNode;
outputPath = _outputPath;
unitSize = _unitSize;
#region Broadphase and Preperation
if (endNode.Unwalkable)
{
return(false);
}
if (startNode.Unwalkable)
{
return(false);
}
outputPath.FastClear();
if (System.Object.ReferenceEquals(startNode, endNode))
{
outputPath.Add(endNode);
return(true);
}
GridHeap.FastClear();
GridClosedSet.FastClear();
#endregion
#region AStar Algorithm
GridHeap.Add(startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
GridNode.PrepareUnpassableCheck(unitSize); //Prepare Unpassable check optimizations
while (GridHeap.Count > 0)
{
currentNode = GridHeap.RemoveFirst();
GridClosedSet.Add(currentNode);
if (currentNode.gridIndex == endNode.gridIndex)
{
//Retraces the path then outputs it into outputPath
//Also Simplifies the path
DestinationReached();
return(true);
}
for (i = 0; i < 8; i++)
{
neighbor = currentNode.NeighborNodes [i];
if (neighbor.IsNull() || currentNode.Unpassable() || GridClosedSet.Contains(neighbor))
{
continue;
}
//0-3 = sides, 4-7 = diagonals
if (i < 4)
{
newMovementCostToNeighbor = currentNode.gCost + 100;
}
else
{
if (i == 4)
{
if (!GridManager.UseDiagonalConnections)
{
break;
}
}
newMovementCostToNeighbor = currentNode.gCost + 141;
}
if (!GridHeap.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.Add(neighbor);
}
else if (newMovementCostToNeighbor < neighbor.gCost)
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.UpdateItem(neighbor);
}
}
}
#endregion
return(false);
}