private int Heuristic(Chimera.ChimeraNode pos0, Chimera.ChimeraNode pos1)
{
int d1 = pos1.x - pos0.x;
int d2 = pos1.y - pos0.y;
d1 = d1 < 0 ? -d1 : d1;
d2 = d2 < 0 ? -d2 : d2;
return(d1 + d2);
}
public Chimera.ChimeraNode GetNode(int chX, int chY)
{
Chimera.ChimeraNode cNode = null;
try
{
cNode = gridNodes[chX][chY];
}
catch
{
Debug.LogError("GetNode => in => (" + chX + ", " + chY + ")");
}
return(cNode);
}
public Vector3 ChimeraToGlobal(Vector3 chPoint)
{
Vector3 point = Vector3.zero.error();
try
{
Chimera.ChimeraNode node = gridNodes[(int)chPoint.x][(int)chPoint.y];
point = new Vector3(node.x, node.y);
}
catch
{
Debug.LogError("ChimeraToGlobal => in => (" + chPoint.x + ", " + chPoint.y + ")");
}
return(point);
}
public Vector3 GlobalToChimera(Vector3 point)
{
Vector3 chPoint = new Vector3().error();
int g = Mathf.CeilToInt((point.x / 2 + point.y / 1) / (hCell));
int f = Mathf.CeilToInt(-(point.x / 2 - point.y / 1) / (hCell));
int cg = topLeftNode.a - g;
int cf = topLeftNode.b - f;
try
{
Chimera.ChimeraNode node = gridNodes[cg][cf];
chPoint = new Vector3(cg, cf);
ChimeraWorld.camera.GetComponent <GridRendering>().DrawNode(node);
}
catch
{
Debug.LogError("GlobalToChimera => in => (" + point.x + ", " + point.y + ") out => (" + cg + ", " + cf + ")");
}
return(chPoint);
}
private List <Chimera.ChimeraNode> GetNeighbors(Chimera.ChimeraNode currentNode)
{
_neighbors.Clear();
int x = currentNode.x;
int y = currentNode.y;
_widthMax = (int)wGrid - wCell / 2;
_heightMax = (int)hGrid - hCell / 2;
_widthMin = wCell;
_heightMin = (int)hCell / 2;
ChimeraNode top = null, bottom = null, left = null, right = null;
if (y > _heightMin)
{
top = GetNode(currentNode.a, currentNode.b - 1);
_neighbors.Add(top);
}
if (y < _heightMax)
{
bottom = GetNode(currentNode.a, currentNode.b + 1);
_neighbors.Add(bottom);
}
if (x > _widthMin)
{
left = GetNode(currentNode.a - 1, currentNode.b);
_neighbors.Add(left);
// try
// {
// if(!left.isWall)
// {
// if (y > _heightMin && !top.isWall)
// {
// _neighbors.Add(GetNode(currentNode.a - 1, currentNode.b - 1));
// }
// if (y < _heightMax && !bottom.isWall)
// {
// _neighbors.Add(GetNode(currentNode.a - 1, currentNode.b + 1));
// }
// }
// }
// catch
// {
// if (_neighbors[_neighbors.Count - 1] == null)
// {
// _neighbors.Remove(_neighbors[_neighbors.Count - 1]);
// }
// }
}
if (x < _widthMax)
{
right = GetNode(currentNode.a + 1, currentNode.b);
_neighbors.Add(right);
// try
// {
// if (!right.isWall)
// {
// if (y > _heightMin && !top.isWall)
// {
// _neighbors.Add (GetNode(currentNode.a + 1, currentNode.b - 1));
// }
// if(y < _heightMax && !bottom.isWall)
// {
// _neighbors.Add(GetNode(currentNode.a + 1, currentNode.b + 1));
// }
// }
// }
// catch
// {
// if (_neighbors[_neighbors.Count - 1] == null)
// {
// _neighbors.Remove(_neighbors[_neighbors.Count - 1]);
// }
// }
}
return(_neighbors);
}
public List <Chimera.ChimeraNode> SearchWay(Chimera.ChimeraNode start, Chimera.ChimeraNode end)
{
openList.Clear();
closeList.Clear();
if (start.isWall || end.isWall)
{
return(null);
}
start.parent = null;
start.g = 0;
openList.Add(start);
while (openList.Count > 0)
{
Chimera.ChimeraNode currentNode = openList[0];
for (int i = 0; i < openList.Count; i++)
{
if (openList[i].f < currentNode.f)
{
currentNode = openList[i];
}
}
if (currentNode.a == end.a && currentNode.b == end.b)
{
List <ChimeraNode> result = new List <Chimera.ChimeraNode>();
while (currentNode != null)
{
result.Add(currentNode);
currentNode = currentNode.parent;
}
result.Reverse();
return(result);
}
openList.Remove(currentNode);
closeList.Add(currentNode);
List <Chimera.ChimeraNode> neighbors = GetNeighbors(currentNode);
for (int j = 0; j < neighbors.Count; j++)
{
Chimera.ChimeraNode neighbor = null;
try
{
neighbor = neighbors[j];
}
catch
{
}
if (neighbor == null || closeList.IndexOf(neighbor) != -1 || neighbor.isWall)
{
continue;
}
int curG = currentNode.g + 1;
bool isNew = openList.IndexOf(neighbor) == -1;
if (isNew)
{
neighbor.h = Heuristic(neighbor, end);
openList.Add(neighbor);
}
if (isNew || curG < neighbor.g)
{
neighbor.parent = currentNode;
neighbor.g = curG;
neighbor.f = neighbor.g + neighbor.h;
}
}
}
return(null);
}
