public Route FindRoute(MapNode start_mapnode, MapNode end_mapnode, Item.Item start_item, Item.Item end_item, bool serviceRoute)
{
Slot start_point = new Slot(start_item.Position.X + ((IPrototype)start_item).Size.X, start_mapnode.position.Y);
Slot end_point = new Slot(end_item.Position.X + ((IPrototype)end_item).Size.X, end_mapnode.position.Y);
MapSearchNode nodeStart = new MapSearchNode(start_mapnode);
nodeStart.parent_item = start_item;
nodeStart.start_point = start_point;
nodeStart.end_point = end_point;
nodeStart.serviceRoute = serviceRoute;
MapSearchNode nodeEnd = new MapSearchNode(end_mapnode);
astarsearch.SetStartAndGoalStates(nodeStart, nodeEnd);
int SearchSteps = 0;
do
{
SearchState = astarsearch.SearchStep();
SearchSteps++;
} while (SearchState == AStarPathfinder.SearchState.Searching);
Route r = new Route();
buildRoute(r, start_item, end_item);
clear();
return(r);
}
private void FindPath()
{
AStarPathfinder pathfinder = new AStarPathfinder();
NodePosition startPos = m_startGrid.m_position;
NodePosition endPos = m_endGrid.m_position;
int width, height;
var mapData = GetMapData(out width, out height);
var map = new Map(mapData, width, height);
pathfinder.InitiatePathfind(map);
MapSearchNode nodeStart = pathfinder.AllocateMapSearchNode(startPos);
MapSearchNode nodeEnd = pathfinder.AllocateMapSearchNode(endPos);
pathfinder.SetStartAndGoalStates(nodeStart, nodeEnd);
AStarPathfinder.SearchState searchState = AStarPathfinder.SearchState.Searching;
uint searchSteps = 0;
do
{
searchState = pathfinder.SearchStep();
searchSteps++;
}while (searchState == AStarPathfinder.SearchState.Searching);
// Search complete
bool pathfindSucceeded = (searchState == AStarPathfinder.SearchState.Succeeded);
if (pathfindSucceeded)
{
// Success
Path newPath = new Path();
int numSolutionNodes = 0; // Don't count the starting cell in the path length
// Get the start node
MapSearchNode node = pathfinder.GetSolutionStart();
newPath.Add(node.position);
++numSolutionNodes;
// Get all remaining solution nodes
for (; ;)
{
node = pathfinder.GetSolutionNext();
if (node == null)
{
break;
}
++numSolutionNodes;
newPath.Add(node.position);
}
;
// Once you're done with the solution we can free the nodes up
pathfinder.FreeSolutionNodes();
m_path = newPath;
_sceneView.Repaint();
Debug.Log("Solution path length: " + numSolutionNodes);
Debug.Log("Solution: " + newPath.ToString());
}
else if (searchState == AStarPathfinder.SearchState.Failed)
{
// FAILED, no path to goal
Debug.Log("Pathfind FAILED!");
}
}
static bool Pathfind(NodePosition startPos, NodePosition goalPos, AStarPathfinder pathfinder)
{
// Reset the allocated MapSearchNode pointer
pathfinder.InitiatePathfind();
// Create a start state
MapSearchNode nodeStart = pathfinder.AllocateMapSearchNode(startPos);
// Define the goal state
MapSearchNode nodeEnd = pathfinder.AllocateMapSearchNode(goalPos);
// Set Start and goal states
pathfinder.SetStartAndGoalStates(nodeStart, nodeEnd);
// Set state to Searching and perform the search
AStarPathfinder.SearchState searchState = AStarPathfinder.SearchState.Searching;
uint searchSteps = 0;
do
{
searchState = pathfinder.SearchStep();
searchSteps++;
}while (searchState == AStarPathfinder.SearchState.Searching);
// Search complete
bool pathfindSucceeded = (searchState == AStarPathfinder.SearchState.Succeeded);
if (pathfindSucceeded)
{
// Success
Path newPath = new Path();
int numSolutionNodes = 0; // Don't count the starting cell in the path length
// Get the start node
MapSearchNode node = pathfinder.GetSolutionStart();
newPath.Add(node.position);
++numSolutionNodes;
// Get all remaining solution nodes
for (; ;)
{
node = pathfinder.GetSolutionNext();
if (node == null)
{
break;
}
++numSolutionNodes;
newPath.Add(node.position);
// DRAW PATH TO GOAL
var vnName = $"vnx{node.position.x}y{node.position.y}";
VisualNode foundVisualNode = _visualGrid.FindName(vnName) as VisualNode;
foundVisualNode?.SetDot(true);
}
;
// Once you're done with the solution we can free the nodes up
pathfinder.FreeSolutionNodes();
Debug.WriteLine("Solution path length: " + numSolutionNodes);
Debug.WriteLine("Solution: " + newPath.ToString());
}
else if (searchState == AStarPathfinder.SearchState.Failed)
{
// FAILED, no path to goal
Debug.WriteLine("Pathfind FAILED!");
}
return(pathfindSucceeded);
}
/// <summary>
///
/// </summary>
/// <param name="grid"></param>
/// <param name="startPos"></param>
/// <param name="goalPos"></param>
/// <param name="pathfinder"></param>
/// <returns></returns>
public static List <Vector2Int> Pathfind(Grid grid, Vector2Int startPos, Vector2Int goalPos, AStarPathfinder pathfinder = null)
{
// Reset the allocated MapSearchNode pointer
if (pathfinder == null)
{
pathfinder = new AStarPathfinder(grid);
}
pathfinder.InitiatePathfind();
// Create a start state
MapSearchNode nodeStart = pathfinder.AllocateMapSearchNode(startPos);
// Define the goal state
MapSearchNode nodeEnd = pathfinder.AllocateMapSearchNode(goalPos);
// Set Start and goal states
pathfinder.SetStartAndGoalStates(nodeStart, nodeEnd);
// Set state to Searching and perform the search
AStarPathfinder.SearchState searchState = AStarPathfinder.SearchState.Searching;
uint searchSteps = 0;
do
{
searchState = pathfinder.SearchStep();
searchSteps++;
}while (searchState == AStarPathfinder.SearchState.Searching);
// Search complete
bool pathfindSucceeded = (searchState == AStarPathfinder.SearchState.Succeeded);
if (pathfindSucceeded)
{
// Success
List <Vector2Int> newPath = new List <Vector2Int>();
int numSolutionNodes = 0; // Don't count the starting cell in the path length
// Get the start node
MapSearchNode node = pathfinder.GetSolutionStart();
newPath.Add(node.nodeIndex);
++numSolutionNodes;
// Get all remaining solution nodes
for (; ;)
{
node = pathfinder.GetSolutionNext();
if (node == null)
{
break;
}
++numSolutionNodes;
newPath.Add(node.nodeIndex);
}
;
// Once you're done with the solution we can free the nodes up
pathfinder.FreeSolutionNodes();
return(newPath);
//System.Console.WriteLine("Solution path length: " + numSolutionNodes);
//System.Console.WriteLine("Solution: " + newPath.ToString());
}
else if (searchState == AStarPathfinder.SearchState.Failed)
{
// FAILED, no path to goal
Debug.LogError("Pathfind FAILED!");
}
return(null);
}
IEnumerator KK()
{
pathfinder = new AStarPathfinder();
// Pathfind(new NodePosition(0, 0), new NodePosition(2, 4), pathfinder);
// Reset the allocated MapSearchNode pointer
pathfinder.InitiatePathfind();
// Create a start state
MapSearchNode nodeStart = pathfinder.AllocateMapSearchNode(new NodePosition(0, 0));
// Define the goal state
MapSearchNode nodeEnd = pathfinder.AllocateMapSearchNode(new NodePosition(GOAL_X, GOAL_Y));
// Set Start and goal states
pathfinder.SetStartAndGoalStates(nodeStart, nodeEnd);
// Set state to Searching and perform the search
AStarPathfinder.SearchState searchState = AStarPathfinder.SearchState.Searching;
uint searchSteps = 0;
yield return(null);
do
{
// if (Input.GetKey(KeyCode.J))
{
Debug.Log("xx-- getkeydown");
searchState = pathfinder.SearchStep();
searchSteps++;
RenderTiles(pathfinder);
}
if (searchState == AStarPathfinder.SearchState.Searching)
{
yield return(null);
}
}while (searchState == AStarPathfinder.SearchState.Searching);
// Search complete
bool pathfindSucceeded = (searchState == AStarPathfinder.SearchState.Succeeded);
if (pathfindSucceeded)
{
// Success
Path newPath = new Path();
int numSolutionNodes = 0; // Don't count the starting cell in the path length
// Get the start node
MapSearchNode node = pathfinder.GetSolutionStart();
newPath.Add(node.position);
++numSolutionNodes;
// Get all remaining solution nodes
for ( ;;)
{
node = pathfinder.GetSolutionNext();
if (node == null)
{
break;
}
++numSolutionNodes;
newPath.Add(node.position);
//
GameObject obj = objs[node.position.x, node.position.y];
if (obj != null)
{
obj.GetComponent <MeshRenderer>().material.color = Color.green;
}
}
;
// Once you're done with the solution we can free the nodes up
pathfinder.FreeSolutionNodes();
Debug.Log("xx-- Solution path length: " + numSolutionNodes);
Debug.Log("xx-- Solution: " + newPath.ToString());
}
else if (searchState == AStarPathfinder.SearchState.Failed)
{
// FAILED, no path to goal
Debug.Log("xx-- Pathfind FAILED!");
}
}
