public override void Open(Path path, PathNode pathNode, PathHandler handler) { GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex); ushort pathID = handler.PathID; int[] neighbourOffsets = gridGraph.neighbourOffsets; uint[] neighbourCosts = gridGraph.neighbourCosts; GridNode[] nodes = gridGraph.nodes; int nodeInGridIndex = base.NodeInGridIndex; for (int i = 0; i < 8; i++) { if (this.HasConnectionInDirection(i)) { GridNode gridNode = nodes[nodeInGridIndex + neighbourOffsets[i]]; if (path.CanTraverse(gridNode)) { PathNode pathNode2 = handler.GetPathNode(gridNode); uint num = neighbourCosts[i]; if (pathNode2.pathID != pathID) { pathNode2.parent = pathNode; pathNode2.pathID = pathID; pathNode2.cost = num; pathNode2.H = path.CalculateHScore(gridNode); gridNode.UpdateG(path, pathNode2); handler.heap.Add(pathNode2); } else if (pathNode.G + num + path.GetTraversalCost(gridNode) < pathNode2.G) { pathNode2.cost = num; pathNode2.parent = pathNode; gridNode.UpdateRecursiveG(path, pathNode2, handler); } else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G) { pathNode.parent = pathNode2; pathNode.cost = num; this.UpdateRecursiveG(path, pathNode, handler); } } } } base.Open(path, pathNode, handler); }
public override void Open(Path path, PathNode pathNode, PathHandler handler) { GridGraph gridGraph = GetGridGraph(base.GraphIndex); ushort pathID = handler.PathID; int[] neighbourOffsets = gridGraph.neighbourOffsets; uint[] neighbourCosts = gridGraph.neighbourCosts; GridNode[] nodes = gridGraph.nodes; for (int i = 0; i < 8; i++) { if (this.GetConnectionInternal(i)) { GridNode node = nodes[base.nodeInGridIndex + neighbourOffsets[i]]; if (path.CanTraverse(node)) { PathNode node2 = handler.GetPathNode(node); uint num3 = neighbourCosts[i]; if (node2.pathID != pathID) { node2.parent = pathNode; node2.pathID = pathID; node2.cost = num3; node2.H = path.CalculateHScore(node); node.UpdateG(path, node2); handler.heap.Add(node2); } else if (((pathNode.G + num3) + path.GetTraversalCost(node)) < node2.G) { node2.cost = num3; node2.parent = pathNode; node.UpdateRecursiveG(path, node2, handler); } else if (((node2.G + num3) + path.GetTraversalCost(this)) < pathNode.G) { pathNode.parent = node2; pathNode.cost = num3; this.UpdateRecursiveG(path, pathNode, handler); } } } } }
public override void Open(Path path, PathNode pathNode, PathHandler handler) { GridGraph gg = GetGridGraph(GraphIndex); ushort pid = handler.PathID; { int[] neighbourOffsets = gg.neighbourOffsets; uint[] neighbourCosts = gg.neighbourCosts; GridNode[] nodes = gg.nodes; for (int i = 0; i < 8; i++) { if (GetConnectionInternal(i)) { GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]]; if (!path.CanTraverse(other)) { continue; } PathNode otherPN = handler.GetPathNode(other); // Multiply the connection cost with 1 + the average of the traversal costs for the two nodes uint tmpCost = (neighbourCosts[i] * (256 + path.GetTraversalCost(this) + path.GetTraversalCost(other))) / 128; if (otherPN.pathID != pid) { otherPN.parent = pathNode; otherPN.pathID = pid; otherPN.cost = tmpCost; otherPN.H = path.CalculateHScore(other); other.UpdateG(path, otherPN); //Debug.Log ("G " + otherPN.G + " F " + otherPN.F); handler.PushNode(otherPN); //Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue); } else { // Sorry for the huge number of #ifs //If not we can test if the path from the current node to this one is a better one then the one already used if (pathNode.G + tmpCost < otherPN.G) { //Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G); otherPN.cost = tmpCost; otherPN.parent = pathNode; other.UpdateRecursiveG(path, otherPN, handler); //Or if the path from this node ("other") to the current ("current") is better } else if (otherPN.G + tmpCost < pathNode.G) { //Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G); pathNode.parent = otherPN; pathNode.cost = tmpCost; UpdateRecursiveG(path, pathNode, handler); } } } } } if (connections != null) { for (int i = 0; i < connections.Length; i++) { GraphNode other = connections[i]; if (!path.CanTraverse(other)) { continue; } PathNode otherPN = handler.GetPathNode(other); uint tmpCost = (connectionCosts[i] * (256 + path.GetTraversalCost(this) + path.GetTraversalCost(other))) / 128; if (otherPN.pathID != pid) { otherPN.parent = pathNode; otherPN.pathID = pid; otherPN.cost = tmpCost; otherPN.H = path.CalculateHScore(other); other.UpdateG(path, otherPN); //Debug.Log ("G " + otherPN.G + " F " + otherPN.F); handler.PushNode(otherPN); //Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue); } else { // Sorry for the huge number of #ifs //If not we can test if the path from the current node to this one is a better one then the one already used if (pathNode.G + tmpCost < otherPN.G) { //Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G); otherPN.cost = tmpCost; otherPN.parent = pathNode; other.UpdateRecursiveG(path, otherPN, handler); //Or if the path from this node ("other") to the current ("current") is better } else if (otherPN.G + tmpCost < pathNode.G && other.ContainsConnection(this)) { //Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G); pathNode.parent = otherPN; pathNode.cost = tmpCost; UpdateRecursiveG(path, pathNode, handler); } } } } }
/** Opens a node using Jump Point Search. * \see http://en.wikipedia.org/wiki/Jump_point_search */ public void JPSOpen(Path path, PathNode pathNode, PathHandler handler) { GridGraph gg = GetGridGraph(GraphIndex); int[] neighbourOffsets = gg.neighbourOffsets; GridNode[] nodes = gg.nodes; ushort pid = handler.PathID; int noncyclic = gridFlags & 0xFF; int cyclic = 0; for (int i = 0; i < 8; i++) { cyclic |= ((noncyclic >> i) & 0x1) << JPSCyclic[i]; } var parent = pathNode.parent != null ? pathNode.parent.node as GridNode : null; int parentDir = -1; if (parent != null) { int diff = parent != null ? parent.nodeInGridIndex - nodeInGridIndex : 0; int x2 = nodeInGridIndex % gg.width; int x1 = parent.nodeInGridIndex % gg.width; if (diff < 0) { if (x1 == x2) { parentDir = 0; } else if (x1 < x2) { parentDir = 7; } else { parentDir = 4; } } else { if (x1 == x2) { parentDir = 1; } else if (x1 < x2) { parentDir = 6; } else { parentDir = 5; } } } int cyclicParentDir = 0; // Check for -1 int forced = 0; if (parentDir != -1) { cyclicParentDir = JPSCyclic[parentDir]; // Loop around to be able to assume -X is where we came from cyclic = ((cyclic >> cyclicParentDir) | ((cyclic << 8) >> cyclicParentDir)) & 0xFF; } else { forced = 0xFF; //parentDir = 0; } bool diagonal = parentDir >= 4; int natural; if (diagonal) { for (int i = 0; i < 8; i++) { if (((cyclic >> i) & 1) == 0) { forced |= JPSForcedDiagonal[i]; } } natural = JPSNaturalDiagonalNeighbours; } else { for (int i = 0; i < 8; i++) { if (((cyclic >> i) & 1) == 0) { forced |= JPSForced[i]; } } natural = JPSNaturalStraightNeighbours; } // Don't force nodes we cannot reach anyway forced &= cyclic; natural &= cyclic; int nb = forced | natural; /*if ( ((Vector3)position - new Vector3(0.5f,0,3.5f)).magnitude < 0.5f ) { * EB.Debug.Log (noncyclic + " " + parentDir + " " + cyclicParentDir); * EB.Debug.Log (System.Convert.ToString (cyclic, 2)+"\n"+System.Convert.ToString (noncyclic, 2)+"\n"+System.Convert.ToString (natural, 2)+"\n"+System.Convert.ToString (forced, 2)); * }*/ for (int i = 0; i < 8; i++) { if (((nb >> i) & 1) != 0) { int oi = JPSInverseCyclic[(i + cyclicParentDir) % 8]; GridNode other = nodes[nodeInGridIndex + neighbourOffsets[oi]]; #if ASTARDEBUG if (((forced >> i) & 1) != 0) { Debug.DrawLine((Vector3)position, Vector3.Lerp((Vector3)other.position, (Vector3)position, 0.6f), Color.red); } if (((natural >> i) & 1) != 0) { Debug.DrawLine((Vector3)position + Vector3.up * 0.2f, Vector3.Lerp((Vector3)other.position, (Vector3)position, 0.6f) + Vector3.up * 0.2f, Color.green); } #endif if (oi < 4) { other = JPSJumpStraight(other, path, handler, JPSInverseCyclic[(i + 4 + cyclicParentDir) % 8]); } else { other = other.JPSJumpDiagonal(path, handler, JPSInverseCyclic[(i + 4 + cyclicParentDir) % 8]); } if (other != null) { //Debug.DrawLine ( (Vector3)position + Vector3.up*0.0f, (Vector3)other.position + Vector3.up*0.3f, Color.cyan); //Debug.DrawRay ( (Vector3)other.position, Vector3.up, Color.cyan); //GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]]; //if (!path.CanTraverse (other)) continue; PathNode otherPN = handler.GetPathNode(other); if (otherPN.pathID != pid) { otherPN.parent = pathNode; otherPN.pathID = pid; otherPN.cost = (uint)(other.position - position).costMagnitude; //neighbourCosts[i]; otherPN.H = path.CalculateHScore(other); other.UpdateG(path, otherPN); //Debug.Log ("G " + otherPN.G + " F " + otherPN.F); handler.PushNode(otherPN); //Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue); } else { //If not we can test if the path from the current node to this one is a better one then the one already used uint tmpCost = (uint)(other.position - position).costMagnitude; //neighbourCosts[i]; if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G) { //Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G); otherPN.cost = tmpCost; otherPN.parent = pathNode; other.UpdateRecursiveG(path, otherPN, handler); //Or if the path from this node ("other") to the current ("current") is better } else if (otherPN.G + tmpCost + path.GetTraversalCost(this) < pathNode.G) { //Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G); pathNode.parent = otherPN; pathNode.cost = tmpCost; UpdateRecursiveG(path, pathNode, handler); } } } } #if ASTARDEBUG if (i == 0 && parentDir != -1 && this.nodeInGridIndex > 10) { int oi = JPSInverseCyclic[(i + cyclicParentDir) % 8]; if (nodeInGridIndex + neighbourOffsets[oi] < 0 || nodeInGridIndex + neighbourOffsets[oi] >= nodes.Length) { //Debug.LogError ("ERR: " + (nodeInGridIndex + neighbourOffsets[oi]) + " " + cyclicParentDir + " " + parentDir + " Reverted " + oi); //Debug.DrawRay ((Vector3)position, Vector3.up, Color.red); } else { GridNode other = nodes[nodeInGridIndex + neighbourOffsets[oi]]; Debug.DrawLine((Vector3)position - Vector3.up * 0.2f, Vector3.Lerp((Vector3)other.position, (Vector3)position, 0.6f) - Vector3.up * 0.2f, Color.blue); } } #endif } }
public override void Open(Path path, PathNode pathNode, PathHandler handler) { GridGraph gg = GetGridGraph(GraphIndex); ushort pid = handler.PathID; #if ASTAR_JPS if (gg.useJumpPointSearch && !path.FloodingPath) { JPSOpen(path, pathNode, handler); } else #endif { int[] neighbourOffsets = gg.neighbourOffsets; uint[] neighbourCosts = gg.neighbourCosts; GridNode[] nodes = gg.nodes; for (int i = 0; i < 8; i++) { if (GetConnectionInternal(i)) { GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]]; if (!path.CanTraverse(other)) { continue; } PathNode otherPN = handler.GetPathNode(other); uint tmpCost = neighbourCosts[i]; if (otherPN.pathID != pid) { otherPN.parent = pathNode; otherPN.pathID = pid; otherPN.cost = tmpCost; otherPN.H = path.CalculateHScore(other); other.UpdateG(path, otherPN); //Debug.Log ("G " + otherPN.G + " F " + otherPN.F); handler.PushNode(otherPN); //Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue); } else { // Sorry for the huge number of #ifs //If not we can test if the path from the current node to this one is a better one then the one already used #if ASTAR_NO_TRAVERSAL_COST if (pathNode.G + tmpCost < otherPN.G) #else if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G) #endif { //Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G); otherPN.cost = tmpCost; otherPN.parent = pathNode; other.UpdateRecursiveG(path, otherPN, handler); //Or if the path from this node ("other") to the current ("current") is better } #if ASTAR_NO_TRAVERSAL_COST else if (otherPN.G + tmpCost < pathNode.G) #else else if (otherPN.G + tmpCost + path.GetTraversalCost(this) < pathNode.G) #endif { //Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G); pathNode.parent = otherPN; pathNode.cost = tmpCost; UpdateRecursiveG(path, pathNode, handler); } } } } } #if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS if (connections != null) { for (int i = 0; i < connections.Length; i++) { GraphNode other = connections[i]; if (!path.CanTraverse(other)) { continue; } PathNode otherPN = handler.GetPathNode(other); uint tmpCost = connectionCosts[i]; if (otherPN.pathID != pid) { otherPN.parent = pathNode; otherPN.pathID = pid; otherPN.cost = tmpCost; otherPN.H = path.CalculateHScore(other); other.UpdateG(path, otherPN); //Debug.Log ("G " + otherPN.G + " F " + otherPN.F); handler.PushNode(otherPN); //Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue); } else { // Sorry for the huge number of #ifs //If not we can test if the path from the current node to this one is a better one then the one already used #if ASTAR_NO_TRAVERSAL_COST if (pathNode.G + tmpCost < otherPN.G) #else if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G) #endif { //Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G); otherPN.cost = tmpCost; otherPN.parent = pathNode; other.UpdateRecursiveG(path, otherPN, handler); //Or if the path from this node ("other") to the current ("current") is better } #if ASTAR_NO_TRAVERSAL_COST else if (otherPN.G + tmpCost < pathNode.G && other.ContainsConnection(this)) #else else if (otherPN.G + tmpCost + path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection(this)) #endif { //Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G); pathNode.parent = otherPN; pathNode.cost = tmpCost; UpdateRecursiveG(path, pathNode, handler); } } } } #endif }
public override void Open(Path path, PathNode pathNode, PathHandler handler) { GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex); ushort pathID = handler.PathID; int[] neighbourOffsets = gridGraph.neighbourOffsets; uint[] neighbourCosts = gridGraph.neighbourCosts; GridNode[] nodes = gridGraph.nodes; for (int i = 0; i < 8; i++) { if (this.GetConnectionInternal(i)) { GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]]; if (path.CanTraverse(gridNode)) { PathNode pathNode2 = handler.GetPathNode(gridNode); uint num = neighbourCosts[i]; if (pathNode2.pathID != pathID) { pathNode2.parent = pathNode; pathNode2.pathID = pathID; pathNode2.cost = num; pathNode2.H = path.CalculateHScore(gridNode); gridNode.UpdateG(path, pathNode2); handler.PushNode(pathNode2); } else if (pathNode.G + num + path.GetTraversalCost(gridNode) < pathNode2.G) { pathNode2.cost = num; pathNode2.parent = pathNode; gridNode.UpdateRecursiveG(path, pathNode2, handler); } else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G) { pathNode.parent = pathNode2; pathNode.cost = num; this.UpdateRecursiveG(path, pathNode, handler); } } } } if (this.connections != null) { for (int j = 0; j < this.connections.Length; j++) { GraphNode graphNode = this.connections[j]; if (path.CanTraverse(graphNode)) { PathNode pathNode3 = handler.GetPathNode(graphNode); uint num2 = this.connectionCosts[j]; if (pathNode3.pathID != pathID) { pathNode3.parent = pathNode; pathNode3.pathID = pathID; pathNode3.cost = num2; pathNode3.H = path.CalculateHScore(graphNode); graphNode.UpdateG(path, pathNode3); handler.PushNode(pathNode3); } else if (pathNode.G + num2 + path.GetTraversalCost(graphNode) < pathNode3.G) { pathNode3.cost = num2; pathNode3.parent = pathNode; graphNode.UpdateRecursiveG(path, pathNode3, handler); } else if (pathNode3.G + num2 + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this)) { pathNode.parent = pathNode3; pathNode.cost = num2; this.UpdateRecursiveG(path, pathNode, handler); } } } } }
public override void Open(Path path, PathNode pathNode, PathHandler handler) { GridGraph gg = GetGridGraph(GraphIndex); int[] neighbourOffsets = gg.neighbourOffsets; uint[] neighbourCosts = gg.neighbourCosts; GridNode[] nodes = gg.nodes; ushort pid = handler.PathID; for (int i = 0; i < 8; i++) { if (GetConnectionInternal(i)) { GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]]; if (!path.CanTraverse(other)) { continue; } PathNode otherPN = handler.GetPathNode(other); if (otherPN.pathID != pid) { otherPN.parent = pathNode; otherPN.pathID = pid; otherPN.cost = neighbourCosts[i]; otherPN.H = path.CalculateHScore(other); other.UpdateG(path, otherPN); //Debug.Log ("G " + otherPN.G + " F " + otherPN.F); handler.PushNode(otherPN); //Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue); } else { //If not we can test if the path from the current node to this one is a better one then the one already used uint tmpCost = neighbourCosts[i]; if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G) { //Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G); otherPN.cost = tmpCost; otherPN.parent = pathNode; other.UpdateRecursiveG(path, otherPN, handler); //Or if the path from this node ("other") to the current ("current") is better } else if (otherPN.G + tmpCost + path.GetTraversalCost(this) < pathNode.G) { //Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G); pathNode.parent = otherPN; pathNode.cost = tmpCost; UpdateRecursiveG(path, pathNode, handler); } } } } }