public RMGPath(RoadMapGen map, RMTile start, RMTile end)
{
this.map = map;
this.width = map.width;
this.height = map.height;
nodes = new RMGNode[width, height];
for (int x = 0; x < width; x += 1)
{
for (int y = 0; y < height; y += 1)
{
nodes[x, y] = new RMGNode(map, x, y);
}
}
for (int x = 0; x < width; x += 1)
{
for (int y = 0; y < height; y += 1)
{
RMGNode n = nodes[x, y];
n.neighbours[0] = getNode(x - 1, y);
n.neighbours[1] = getNode(x + 1, y);
n.neighbours[2] = getNode(x, y - 1);
n.neighbours[3] = getNode(x, y + 1);
}
}
this.start = getNode(start.x, start.y);
this.end = getNode(end.x, end.y);
//Debug.Log("end = " + end);
}
RMGNode getNode(int x, int y)
{
if (!map.OOB(x, y))
{
RMGNode n = nodes[x, y];
if (n.moveFactor == 0)
{
return(null);
}
return(n);
}
return(null);
}
void retracePath()
{
List <RMGNode> npath = new List <RMGNode>();
RMGNode current = end;
while (current != start)
{
npath.Add(current);
current = current.parent;
}
npath.Reverse();
path = new List <RMTile>();
for (int i = 0; i < npath.Count; i += 1)
{
path.Add(map.GetTile(npath[i].x, npath[i].y));
}
}
public bool findPath()
{
if (start == null || end == null)
{
return(false);
}
open.Add(start);
start.gCost = 0;
start.hCost = qDist(start, end);
while (open.Count > 0)
{
RMGNode current = open[0];
//find lowest f
for (int i = 1; i < open.Count; i += 1)
{
RMGNode o = open[i];
if (o.fCost < current.fCost || (o.fCost == current.fCost && o.hCost < current.hCost))
{
current = o;
}
}
open.Remove(current);
closed.Add(current);
if (current == null)
{
return(false);
}
else
{
if (current == end)
{
//Debug.Log("found path!");
retracePath();
return(true);
}
else
{
//Debug.Log("current = " + current);
for (int i = 0; i < current.neighbours.Length; i += 1)
{
RMGNode n = current.neighbours[i];
if (n != null)
{
//Debug.Log("neighbour = " + n);
if (n.moveFactor <= 0 || closed.Contains(n))
{
continue;
}
int newmc = (int)(current.gCost + qDist(current, n) + heur(current, n));
if (newmc < n.gCost || !open.Contains(n))
{
n.gCost = newmc;
n.hCost = qDist(n, end);
n.parent = current;
cameFrom[n] = current;
}
if (!open.Contains(n))
{
open.Add(n);
}
}
}
}
}
}
return(false);
}
public static int qDist(RMGNode a, RMGNode b)
{
return(Mathf.Abs(a.x - b.x) + Mathf.Abs(a.y - b.y));
}
float heur(RMGNode a, RMGNode b)
{
float h = a.tile.h - b.tile.h;
return(-h * 100);
}
