void Start()
{
prevParam = 0.0f;
manager = GetComponent <SteeringManagerComponent>();
Heuristic heuristic = new EuclideanHeuristic();
finder = new ASearch(heuristic.Heuristic);
follower = new CoherentPathFollower();
manager[moveBehavior].SetEnabled(false);
manager[moveBehavior].SetFloat("ArriveRadius", lookAhead * 0.75f);
target = new PointActor(Vector3.zero);
manager[moveBehavior].SetActor("Target", target);
}
private void Start()
{
var pathHeuristic = new EuclideanHeuristic();
var graph = new TilemapGraph(_tilemap);
var graphNodeCost = new NodeCostChainOfResponsibilities(new List <IGraphNodeCost>
{
new ObstacleGraphNodeCost(_obstacles),
new FloorGraphNodeCost(_tilemap)
});
_pathFinder = new PathFinder(graph, graphNodeCost, pathHeuristic);
_reevaluatePathInterval = 3;
}
void Start()
{
prevParam = 0.0f;
manager = GetComponent<SteeringManagerComponent>();
Heuristic heuristic = new EuclideanHeuristic();
finder = new ASearch(heuristic.Heuristic);
follower = new CoherentPathFollower();
manager[moveBehavior].SetEnabled(false);
manager[moveBehavior].SetFloat("ArriveRadius", lookAhead * 0.75f);
target = new PointActor(Vector3.zero);
manager[moveBehavior].SetActor("Target", target);
}
// Use this for initialization
void Start()
{
this.draw = false;
this.currentClickNumber = 1;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
IHeuristic heuristic = null;
switch (Heuristic)
{
case HeuristicType.Zero:
heuristic = new ZeroHeuristic();
break;
case HeuristicType.Euclidean:
heuristic = new EuclideanHeuristic();
break;
default:
break;
}
this.aStarPathFinding = new AStarPathfinding(this.navMesh, new SimpleUnorderedNodeList(), new HashTableNodeList(), heuristic);
}
public void FindPath()
{
StopCoroutine("FollowPathCoroutine");
Node fromNode = graph.FindNodeFromWorldPosition(transform.position);
Node goalNode = graph.FindNodeFromWorldPosition(goal.position);
EuclideanHeuristic euclideanH = new EuclideanHeuristic(goalNode);
Stopwatch timer = new Stopwatch();
if (list)
{
// List + Euclidean
timer.Start();
for (int i = 0; i < repeatCount; i++)
{
path = new PathfinderList(graph).PathFindAStar(fromNode, goalNode, euclideanH);
}
timer.Stop();
Debug.Log("[List + Euclidean] Pathfinding took: " + timer.ElapsedMilliseconds + "ms");
timer.Reset();
}
if (heapEuclidean)
{
// Heap + Euclidean
timer.Start();
for (int i = 0; i < repeatCount; i++)
{
path = new PathfinderHeap(graph, true).PathFindAStar(fromNode, goalNode, euclideanH);
}
timer.Stop();
Debug.Log("[Heap + Euclidean] Pathfinding took: " + timer.ElapsedMilliseconds + "ms");
timer.Reset();
}
if (heapCluster)
{
// Heap + Cluster
ClusterHeuristic clusterH;
if (heuristic == null)
{
clusterH = new ClusterHeuristic(goalNode, graph);
}
else
{
clusterH = (ClusterHeuristic)heuristic;
}
timer.Start();
if (clusterH.CanReach(fromNode))
{
for (int i = 0; i < repeatCount; i++)
{
path = new PathfinderHeap(graph, true).PathFindAStar(fromNode, goalNode, clusterH);
}
}
else
{
path = null;
}
timer.Stop();
Debug.Log("[Heap + Cluster] Pathfinding took: " + timer.ElapsedMilliseconds + "ms");
timer.Reset();
heuristic = clusterH;
}
if (nodeArray)
{
// Heap + Euclidean + Node Array
timer.Start();
for (int i = 0; i < repeatCount; i++)
{
path = new PathfinderHeapNodeArray(graph).PathFindAStar(fromNode, goalNode, euclideanH);
}
timer.Stop();
Debug.Log("[Heap + Euclidean + Node Array] Pathfinding took: " + timer.ElapsedMilliseconds + "ms");
timer.Reset();
}
if (heuristic == null)
{
heuristic = euclideanH;
}
}
