// (src,target]までRayCastする
public override void RaycastCell(Vector2 src, Vector2 target, AstarCell.Type ignore, System.Func <int, int, bool> act)
{
if (this.UsingUnityRaycast)
{
var hits = Physics.SphereCastAll(new Vector3(src.x, this.TileSize * 0.6f, src.y),
this.RayCastHalfExtents, // this.TileSize * 0.5f,
new Vector3(target.x - src.x, 0.0f, target.y - src.y),
(target - src).magnitude);
foreach (var h in hits)
{
if (this.DisallowTags.Contains(h.transform.tag))
{
continue;
}
var pos = hits[0].transform.position;
int index = this.cellIndex(new Vector2(pos.y, pos.z));
AstarCell cell = null;
if (index >= 0 && index < this.cellMapBody.Count())
{
cell = this.cellMapBody[index];
}
///act(cell);
return;
}
///act(this.CellMap(target));
}
else
{
base.RaycastCell(src, target, ignore, act);
}
}
// 動的なセルの追加(状態変更)
public override AstarCell AddCellImmediate(Vector2 pos, AstarCell.Type type)
{ // グリッドタイプの場合は、既存のセルの属性を変える
var cell = CellMap(pos);
cell.CellType = type;
MakeRelation(cell);
return(cell);
}
private void setCellType(Vector2 pos, AstarCell.Type cellType)
{
int ix = (int)((pos.x - this.MapRect.x) / this.TileSize + 0.5f);
int iy = (int)((pos.y - this.MapRect.y) / this.TileSize + 0.5f);
if (ix < 0 || ix >= this.GridWidth || iy < 0 || iy > this.GridHeight)
{
Debug.LogError(string.Format("invalid cell position({0},{1})", pos.x, pos.y));
}
else
{
this.cellType[ix, iy] = cellType;
}
}
public override AstarCell AddCellImmediate(Vector2 pos, AstarCell.Type type)
{
if (this.GridMode)
{
return(base.AddCellImmediate(pos, type));
}
else
{
AstarCell cell = null;
if (type == AstarCell.Type.Start || type == AstarCell.Type.Goal)
{ // スタートかゴールがブロックの場合はエラー
if (CellMap(pos).CellType == AstarCell.Type.Block)
{
return(null);
}
}
else
{ // StartとGoal以外はセルを探す
cell = CellMap(pos);
}
if (cell == null)
{
cell = new AstarCell();
cell.CellType = type;
cell.Position = pos;
setCellType(cell);
MakeRelation(cell);
this.logic.cells.Add(cell);
}
else
{
cell.CellType = type;
setCellType(cell);
MakeRelation(cell);
if (!this.logic.cells.Contains(cell))
{
this.logic.cells.Add(cell);
}
}
return(cell);
}
}
// 基本的なAStartでは処理が冗長のため、最適化を行う
// 障害物の凸頂点以外のノードを削除する
public void MapMake()
{
foreach (var cell in this.cellMapBody)
{
if (cell.CellType != AstarCell.Type.Block)
{
cell.CellType = AstarCell.Type.Empty;
}
cell.Related.Clear();
}
// 8方向全部がEmptyであるセルを削除
var octcells = this.cellMapBody.Where(c =>
{
if (c.CellType != AstarCell.Type.Empty)
{
return(false);
}
for (int ix = -1; ix < 2; ++ix)
{
for (int iy = -1; iy < 2; ++iy)
{
if (ix == 0 && iy == 0)
{
continue;
}
Vector2 ixy = new Vector2(ix * this.TileSize, iy * this.TileSize);
if (this.CellType(c.Position + ixy) != AstarCell.Type.Empty)
{
return(false);
}
}
}
return(true);
}
).ToList();
foreach (var cell in octcells)
{
cell.CellType = AstarCell.Type.Removed;
}
var emptyCells = this.cellMapBody.Where(c => c.CellType == AstarCell.Type.Empty);
// 3x3周囲のセル情報をセットする
System.Action <Vector2, AstarCell.Type[, ]> set3x3 = (pos, ar) =>
{
for (int ix = -1; ix < 2; ++ix)
{
for (int iy = -1; iy < 2; ++iy)
{
if (ix == 0 && iy == 0)
{
continue;
}
float x = pos.x + (ix * this.TileSize);
float y = pos.y + (iy * this.TileSize);
ar[ix + 1, iy + 1] = this.CellType(new Vector2(x, y));
}
}
};
// 角以外のセルを削除
List <AstarCell> removeList = new List <AstarCell>();
foreach (var cell in emptyCells)
{
var pos = cell.Position;
AstarCell.Type[,] ar = new AstarCell.Type[3, 3]; // check around
set3x3(pos, ar);
// 縦横3連ブロックチェック
for (int inv = 0; inv < 2; ++inv)
{
// x,ｙを反転させる
System.Func <int, int, AstarCell.Type> m = (x, y) => { return(inv == 0 ? ar[x, y] : ar[y, x]); };
// 両サイド
for (int s = 0; s <= 2; s += 2)
{
int u = 2 - s; // 逆サイド
if (m(s, 0) == m(s, 1) && m(s, 1) == m(s, 2) && m(s, 0) == AstarCell.Type.Block)
{ // サイドがすべてブロック
if (m(1, 0) == AstarCell.Type.Empty && m(1, 2) == AstarCell.Type.Empty)
{ // 上下3連でEmpty
if (m(u, 0) != AstarCell.Type.Block &&
m(u, 1) != AstarCell.Type.Block &&
m(u, 2) != AstarCell.Type.Block)
{
removeList.Add(cell);
}
}
if (m(1, 0) == AstarCell.Type.Empty || m(1, 2) == AstarCell.Type.Empty)
{ // 凹角の判断
if ((m(1, 2) == AstarCell.Type.Block && m(u, 2) == AstarCell.Type.Block && m(u, 0) != AstarCell.Type.Block) ||
(m(1, 0) == AstarCell.Type.Block && m(u, 0) == AstarCell.Type.Block && m(u, 2) != AstarCell.Type.Block))
{
removeList.Add(cell);
}
}
}
}
}
}
foreach (var cell in removeList)
{
cell.CellType = AstarCell.Type.Removed;
}
removeList.Clear();
if (!this.GridMode)
{ // グリッドモードでない場合は、さらに最適化を進める
foreach (var cell in emptyCells.Where(c => c.CellType == AstarCell.Type.Empty))
{
var pos = cell.Position;
AstarCell.Type[,] ar = new AstarCell.Type[3, 3]; // check around
set3x3(pos, ar);
// 90度つず回転する[x,y][y,x][-x,y][x,-ｙ]
for (int angle = 0; angle < 8; ++angle)
{
System.Func <int, int, AstarCell.Type> m = (x, y) =>
{
switch (angle)
{
default:
case 0: return(ar[x, y]);
case 1: return(ar[y, 2 - x]);
case 2: return(ar[2 - x, 2 - y]);
case 3: return(ar[2 - y, x]);
case 4: return(ar[y, x]);
case 5: return(ar[x, 2 - y]);
case 6: return(ar[2 - y, 2 - x]);
case 7: return(ar[2 - x, y]);
}
};
// 角にある3点を1点にする
// □ □ □ □ □ □
// □ * * => □ □ *
// ? ■ ? ? ■ *
if (m(0, 0) == AstarCell.Type.Removed && m(1, 0) == AstarCell.Type.Removed && m(2, 0) == AstarCell.Type.Removed &&
m(0, 1) == AstarCell.Type.Removed && m(1, 1) == AstarCell.Type.Empty && m(2, 1) == AstarCell.Type.Empty &&
/*&& m(0,2) == AstarCell.Type.Block*/ m(1, 2) == AstarCell.Type.Block /*&& m(2, 2) == AstarCell.Type.Empty*/)
{
removeList.Add(cell);
}
// 冗長な斜めの線を細くする
// □ * !□ □ * *
// * * ■ => * □ ■
// !□ ■ ■ * ■ ■
if (angle < 4 &&
m(0, 0) == AstarCell.Type.Removed && m(1, 0) == AstarCell.Type.Empty && m(2, 0) != AstarCell.Type.Removed &&
m(0, 1) == AstarCell.Type.Empty && m(1, 1) == AstarCell.Type.Empty && m(2, 1) == AstarCell.Type.Block &&
m(0, 2) != AstarCell.Type.Removed && m(1, 2) == AstarCell.Type.Block && m(2, 2) == AstarCell.Type.Block)
{
removeList.Add(cell);
}
// 3連続の中を抜く
// ? * ? ? * ?
// !* * !* => ? □ ?
// ? * ? ? * ?
if ((angle == 0 || angle == 4) &&
m(1, 0) == AstarCell.Type.Empty && m(1, 1) == AstarCell.Type.Empty && m(1, 2) == AstarCell.Type.Empty &&
(m(0, 1) != AstarCell.Type.Empty && m(2, 1) != AstarCell.Type.Empty)
)
{
removeList.Add(cell);
}
// 斜め3連続の中を抜く
// !□ ? * □ □ *
// □ * □ => □ □ □
// * ? !□ * □ □
if ((angle == 0 || angle == 7) &&
m(0, 0) != AstarCell.Type.Empty /*&& m(1,0) == AstarCell.Type.Removed */ && m(2, 0) == AstarCell.Type.Empty &&
/*&& m(0,1) == AstarCell.Type.Removed*/ m(1, 1) == AstarCell.Type.Empty && /*&& m(2,1) == AstarCell.Type.Removed*/
m(0, 2) == AstarCell.Type.Empty /*&& m(1,2) == AstarCell.Type.Removed */ && m(2, 2) != AstarCell.Type.Empty)
{
removeList.Add(cell);
}
}
}
foreach (var cell in removeList)
{
cell.CellType = AstarCell.Type.Removed;
}
}
// キャッシュ用セルを作成
this.cellType = new AstarCell.Type[this.GridWidth, this.GridHeight];
foreach (var cell in this.cellMapBody)
{
setCellType(cell);
}
// 有効なセルの登録
this.logic.cells = this.cellMapBody.Where(c => c.CellType == AstarCell.Type.Empty).Select(c => c as AstarCell).ToList();
// 残ったセルに対して、接続情報をセットする
if (this.PreCalculateRelation)
{
foreach (var cell in this.logic.cells)
{
setGridRelatedSearchRaycast(cell, true);
cell.RelationBuilt = true;
}
}
this.MapReady = true;
}
// (src,target] までDDAでトレースする
// DDAでレイキャスト
// (src,target] までDDAでトレースする
public virtual void RaycastCell(Vector2 src, Vector2 target, AstarCell.Type ignore, System.Func <int, int, bool> act)
{
int ix = (int)((src.x - this.MapRect.x) / this.TileSize + 0.5f);
int iy = (int)((src.y - this.MapRect.y) / this.TileSize + 0.5f);
int tx = (int)((target.x - this.MapRect.x) / this.TileSize + 0.5f);
int ty = (int)((target.y - this.MapRect.y) / this.TileSize + 0.5f);
int sx = ix > tx ? -1 : 1;
int sy = iy > ty ? -1 : 1;
int dx = Mathf.Abs(tx - ix);
int dy = Mathf.Abs(ty - iy);
if (dx == dy)
{ //ななめ45度
while (true)
{
ix += sx;
iy += sy;
if (--dx < 0)
{
break;
}
if (this.cellType[ix, iy] != ignore)
{
if (act(ix, iy))
{
return;
}
}
}
}
else if (dx > dy)
{ // 横に長い
int r = dx / 2;
while (sx > 0 ? ix <tx : ix> tx)
{
ix += sx;
r -= dy;
if (r < 0)
{
r += dx;
iy += sy;
}
if (this.cellType[ix, iy] != ignore)
{
if (act(ix, iy))
{
return;
}
}
}
}
else
{ // 縦に長い
int r = dy / 2;
while (sy > 0 ? iy <ty : iy> ty)
{
iy += sy;
r -= dx;
if (r < 0)
{
r += dy;
ix += sx;
}
if (this.cellType[ix, iy] != ignore)
{
if (act(ix, iy))
{
return;
}
}
}
}
}
// 動的なセルの追加(状態変更) public abstract AstarCell AddCellImmediate(Vector2 pos, AstarCell.Type type);
