public override float Hueristic(int x, int y, Vector3 start, Vector3 goal, GridScript gridScript)
{
return(ManHattanHeuristic(new Vector3(x, y), goal));
GameObject[,] grid = gridScript.GetGrid();
Vector3 vec = grid[x, y].transform.position;
float score = 0;
for (int dx = -1; dx <= 1; dx++)
{
for (int dy = -1; dy <= 1; dy++)
{
int nx = dx + x;
int ny = dy + y;
if (nx < 0 || nx >= grid.GetLength(0) ||
ny < 0 || ny >= grid.GetLength(1))
{
score += 0;
}
else
{
score += gridScript.GetMovementCost(grid[nx, ny]) /
((ManHattanHeuristic(grid[nx, ny].transform.position, goal)));
}
}
}
return(score);
}
public virtual float Hueristic(int x, int y, Vector3 start, Vector3 goal, GridScript gridScript)
{
var _pos = gridScript.GetGrid();
return(gridScript.GetMovementCost(_pos[x, y]) * Math.Abs(goal.x - x) + Math.Abs(goal.y - y));
//return Random.Range(0, 500);
}
public override float Hueristic(int x, int y, Vector3 start, Vector3 goal, GridScript gridScript)
{
//we want low heuristic for best possible score
//exploring lowest priority first gets you there quicker
/*
* x = x pos for node being checked
* y = y pos for node being checked
* start = startPos
* goal = goalPos
* gridScript = gridScript
* abs(a.x - b.x) + abs(a.y - b.y)
* (Mathf.Abs(start.x - goal.x)) + (Mathf.Abs(start.y - goal.y))
*
*/
float priority;
float topSum = 0;
float bottomSum = 0;
float rightSum = 0;
float leftSum = 0;
float nodesCheck = 0;
GameObject[,] pos = gridScript.GetGrid();
//get the movementCost for each node above, below, left, and right of the main node
//add those together and then divide that by the nodes checked to get the average
//but also divide the nodesChecked by 5 because that's the number that gave me the lowest nodes
if (x > 0 && x < gridScript.gridWidth && y + 1 > 0 && y + 1 < gridScript.gridHeight)
{
topSum = gridScript.GetMovementCost(pos[x, y + 1]);
nodesCheck++;
}
if (x > 0 && x < gridScript.gridWidth && y - 1 > 0 && y - 1 < gridScript.gridHeight)
{
bottomSum = gridScript.GetMovementCost(pos[x, y - 1]);
nodesCheck++;
}
if (x - 1 > 0 && x - 1 < gridScript.gridWidth && y > 0 && y < gridScript.gridHeight)
{
leftSum = gridScript.GetMovementCost(pos[x - 1, y]);
nodesCheck++;
}
if (x + 1 > 0 && x + 1 < gridScript.gridWidth && y > 0 && y < gridScript.gridHeight)
{
rightSum = gridScript.GetMovementCost(pos[x + 1, y]);
nodesCheck++;
}
priority = (Mathf.Abs(start.x - goal.x)) + (Mathf.Abs(start.y - goal.y)) * gridScript.costs[0];
float otherSum = (topSum + bottomSum + leftSum + rightSum) / (nodesCheck * 5);
priority += (otherSum + gridScript.GetMovementCost(pos[x, y]));
//Debug.Log("priority = " + priority);
return(priority);
}
public override float Hueristic(int x, int y, Vector3 start, Vector3 goal, GridScript gridScript)
{
GameObject[,] grid = gridScript.GetGrid();
float movementCost = gridScript.GetMovementCost(grid[x, y]);
float damage = ((DamageGridScript)gridScript).GetDamageCost(grid[x, y]);
float distance = Vector2.Distance(start, goal);
float cost = damage * avoidDamage + movementCost * shortestRoute;
return(cost);
}
public override float Hueristic(int x, int y, Vector3 start, Vector3 goal, GridScript gridScript)
{
pos = gridScript.GetGrid();
GameObject go = pos[x, y];
Material mat = go.GetComponent <MeshRenderer>().sharedMaterial;
if (mat.name == "Forest" || mat.name == "Water")
{
return(1000000000);
}
else
{
return(0);
}
}
public override float Hueristic(int x, int y, Vector3 start, Vector3 goal, GridScript gridScript)
{
float priority;
float topSum = 0;
float bottomSum = 0;
float rightSum = 0;
float leftSum = 0;
float nodesCheck = 0;
GameObject[,] pos = gridScript.GetGrid();
if (x > 0 && x < gridScript.gridWidth && y + 1 > 0 && y + 1 < gridScript.gridHeight)
{
topSum = gridScript.GetMovementCost(pos[x, y + 1]);
nodesCheck++;
}
if (x > 0 && x < gridScript.gridWidth && y - 1 > 0 && y - 1 < gridScript.gridHeight)
{
bottomSum = gridScript.GetMovementCost(pos[x, y - 1]);
nodesCheck++;
}
if (x - 1 > 0 && x - 1 < gridScript.gridWidth && y > 0 && y < gridScript.gridHeight)
{
leftSum = gridScript.GetMovementCost(pos[x - 1, y]);
nodesCheck++;
}
if (x + 1 > 0 && x + 1 < gridScript.gridWidth && y > 0 && y < gridScript.gridHeight)
{
rightSum = gridScript.GetMovementCost(pos[x + 1, y]);
nodesCheck++;
}
priority = (Mathf.Abs(start.x - goal.x)) + (Mathf.Abs(start.y - goal.y)) * gridScript.costs[0];
float otherSum = (topSum + bottomSum + leftSum + rightSum) / (nodesCheck * 5);
priority += (otherSum + gridScript.GetMovementCost(pos[x, y]));
// Debug.Log("priority = " + priority);
return(priority);
}
protected virtual void InitAstar(Path path)
{
this.path = path;
_start = gridScript.start;
_goal = gridScript.goal;
_gridWidth = gridScript.gridWidth;
_gridHeight = gridScript.gridHeight;
_pos = gridScript.GetGrid();
_frontier = new PriorityQueue <Vector3>();
_frontier.Enqueue(_start, 0);
_cameFrom.Add(_start, _start);
_costSoFar.Add(_start, 0);
var exploredNodes = 0;
while (_frontier.Count != 0)
{
exploredNodes++;
_current = _frontier.Dequeue();
_visited.Add(_current);
// _pos[(int)_current.x, (int)_current.y].transform.localScale = Vector3.Scale(_pos[(int)_current.x, (int)_current.y].transform.localScale, new Vector3(.8f, .8f, .8f));
if (_current.Equals(_goal))
{
Debug.Log("GOOOAL!");
break;
}
for (var x = -1; x < 2; x += 2)
{
AddNodesToFrontier((int)_current.x + x, (int)_current.y);
}
for (var y = -1; y < 2; y += 2)
{
AddNodesToFrontier((int)_current.x, (int)_current.y + y);
}
}
_current = _goal;
var line = GetComponent <LineRenderer>();
var i = 0;
float score = 0;
while (!_current.Equals(_start))
{
line.positionCount++;
var go = _pos[(int)_current.x, (int)_current.y];
path.Insert(0, go, new Vector3((int)_current.x, (int)_current.y));
_current = _cameFrom[_current];
var vec = Util.clone(go.transform.position);
vec.z = -1;
line.SetPosition(i, vec);
score += gridScript.GetMovementCost(go);
i++;
}
path.Insert(0, _pos[(int)_current.x, (int)_current.y]);
path.nodeInspected = exploredNodes;
Debug.Log(path.pathName + " Terrain Score: " + score);
Debug.Log(path.pathName + " Nodes Checked: " + exploredNodes);
Debug.Log(path.pathName + " Total Score: " + (score + exploredNodes));
}
protected virtual void InitAstar(Path path)
{
this.path = path;
start = gridScript.start;
goal = gridScript.goal;
gridWidth = gridScript.gridWidth;
gridHeight = gridScript.gridHeight;
pos = gridScript.GetGrid();
frontier = new PriorityQueue <Vector3>();
frontier.Enqueue(start, 0);
cameFrom.Add(start, start);
costSoFar.Add(start, 0);
int exploredNodes = 0;
while (frontier.Count != 0)
{
exploredNodes++;
current = frontier.Dequeue();
visited.Add(current);
pos[(int)current.x, (int)current.y].transform.localScale =
Vector3.Scale(pos[(int)current.x, (int)current.y].transform.localScale, new Vector3(.8f, .8f, .8f));
if (current.Equals(goal))
{
Debug.Log("GOOOAL!");
break;
}
for (int x = -1; x < 2; x += 2)
{
AddNodesToFrontier((int)current.x + x, (int)current.y);
}
for (int y = -1; y < 2; y += 2)
{
AddNodesToFrontier((int)current.x, (int)current.y + y);
}
}
current = goal;
LineRenderer line = GetComponent <LineRenderer>();
int i = 0;
float score = 0;
while (!current.Equals(start))
{
line.positionCount++;
GameObject go = pos[(int)current.x, (int)current.y];
path.Insert(0, go, new Vector3((int)current.x, (int)current.y));
current = cameFrom[current];
Vector3 vec = Util.clone(go.transform.position);
vec.z = -1;
line.SetPosition(i, vec);
score += gridScript.GetMovementCost(go);
i++;
}
path.Insert(0, pos[(int)current.x, (int)current.y]);
path.nodeInspected = exploredNodes;
Debug.Log(path.pathName + " Terrian Score: " + score);
Debug.Log(path.pathName + " Nodes Checked: " + exploredNodes);
Debug.Log(path.pathName + " Total Score: " + (score + exploredNodes));
}
public override float Hueristic(int x, int y, Vector3 start, Vector3 goal, GridScript gridScript)
{
return(gridScript.GetMovementCost(gridScript.GetGrid()[x, y]));
}
public override float Hueristic(int x, int y, Vector3 start, Vector3 goal, GridScript gridScript)
{
//from matt
// if (x == goal.x && y == goal.y) {
// Debug.LogError ("0");
//// return 0;
// }
//
// GameObject[,] grid = gridScript.GetGrid();
//
// Vector3 vec = grid[x, y].transform.position;
//
//// return gridScript.GetMovementCost (grid [x, y]) /
//// ((ManHattanHeuristic (grid [x, y].transform.position, goal)));
//
// float score = 0;
//
// for(int dx = -1; dx <= 1; dx++){
// for(int dy = -1; dy <= 1; dy++){
// if (dx == 0 || dy == 0) {
//
// int nx = dx + x;
// int ny = dy + y;
//
// if (nx < 0 || nx >= grid.GetLength (0) ||
// ny < 0 || ny >= grid.GetLength (1)) {
// score += 0;
// } else {
// score += gridScript.GetMovementCost (grid [nx, ny]) /
// ((ManHattanHeuristic (grid [nx, ny].transform.position, goal)));
// }
// }
// }
// }
// return score + 0f;
//greedy best first
// return (Mathf.Abs (x - goal.x) + Mathf.Abs (y - goal.y)) * gridScript.costs[0]; //290, (25,2)385
// return (Mathf.Abs (x - goal.x) + Mathf.Abs (y - goal.y)) * gridScript.costs [0] + 0.000001f; //287
//I did my best
if (x == goal.x && y == goal.y)
{
// Debug.LogError ("0");
return(0);
}
GameObject[,] grid = gridScript.GetGrid();
List <Vector2> t_currentShortList = new List <Vector2> ();
t_currentShortList.Add(new Vector2(x - 1, y));
t_currentShortList.Add(new Vector2(x + 1, y));
t_currentShortList.Add(new Vector2(x, y - 1));
t_currentShortList.Add(new Vector2(x, y + 1));
for (int i = 0; i < t_currentShortList.Count; i++)
{
if (t_currentShortList[i].x < 0 || t_currentShortList[i].x >= grid.GetLength(0) ||
t_currentShortList[i].y < 0 || t_currentShortList[i].y >= grid.GetLength(1))
{
t_currentShortList.RemoveAt(i);
i--;
}
}
float t_currentShortValue = GetCost((Vector3)t_currentShortList [0], gridScript);
for (int i = 1; i < t_currentShortList.Count; i++)
{
t_currentShortValue = Mathf.Min(t_currentShortValue, GetCost((Vector3)t_currentShortList [i], gridScript));
}
for (int i = 0; i < t_currentShortList.Count; i++)
{
if (GetCost((Vector3)t_currentShortList [i], gridScript) != t_currentShortValue)
{
t_currentShortList.RemoveAt(i);
i--;
}
}
List <Vector2> t_endShortList = new List <Vector2> ();
t_endShortList.Add(new Vector2(goal.x - 1, goal.y));
t_endShortList.Add(new Vector2(goal.x + 1, goal.y));
t_endShortList.Add(new Vector2(goal.x, goal.y - 1));
t_endShortList.Add(new Vector2(goal.x, goal.y + 1));
for (int i = 0; i < t_endShortList.Count; i++)
{
if (t_endShortList[i].x < 0 || t_endShortList[i].x >= grid.GetLength(0) ||
t_endShortList[i].y < 0 || t_endShortList[i].y >= grid.GetLength(1))
{
t_endShortList.RemoveAt(i);
i--;
}
}
float t_endShortValue = GetCost((Vector3)t_endShortList [0], gridScript);
for (int i = 1; i < t_endShortList.Count; i++)
{
t_endShortValue = Mathf.Min(t_endShortValue, GetCost((Vector3)t_endShortList [i], gridScript));
}
for (int i = 0; i < t_endShortList.Count; i++)
{
if (GetCost((Vector3)t_endShortList [i], gridScript) != t_endShortValue)
{
t_endShortList.RemoveAt(i);
i--;
}
}
float t_ManHattanHeuristic = ManHattanHeuristic(t_currentShortList [0], t_endShortList [0]);
for (int i = 0; i < t_currentShortList.Count; i++)
{
for (int j = 0; j < t_endShortList.Count; j++)
{
t_ManHattanHeuristic = Mathf.Min(t_ManHattanHeuristic, ManHattanHeuristic(t_currentShortList [0], t_endShortList [0]));
}
}
return(t_ManHattanHeuristic * gridScript.costs [0] + t_currentShortValue + t_endShortValue + GetCost(goal, gridScript)); // 291
}
private float GetCost(Vector3 point, GridScript gridScript)
{
return(gridScript.GetMovementCost(gridScript.GetGrid() [(int)point.x, (int)point.y]));
}
