void Initialize()
{
transform.position = _initialPosition;
FoundGoal = false;
FoundObstacle = false;
PerformedActionsNumber = 0;
ExploredPuts = 0;
Matrix = MatrixFromRaycast.CreateMatrixFromRayCast();
this.GetComponent <TrailRenderer>().time = _totalAnimationTime;
}
// Use this for initialization
void Start()
{
_initialPosition = transform.position;
Matrix = MatrixFromRaycast.CreateMatrixFromRayCast();
if (PlayerScript._trailColorIterator == null)
{
PlayerScript._trailColorIterator = _playerTrailColors().GetEnumerator();
}
PlayerScript._trailColorIterator.MoveNext();
this.GetComponent <TrailRenderer>().time = _totalAnimationTime;
this.GetComponent <TrailRenderer>().materials[0].SetColor("_TintColor", PlayerScript._trailColorIterator.Current);
}
public IEnumerator AStar()
{
_isRunning = true;
// Recovering the environment as a matrix
var matrix = MatrixFromRaycast.CreateMatrixFromRayCast();
/*
* // Convert as boolean grid
* // true => wall || explored
* // false => unknow
*/
bool[][] ExploredGrid = new bool[matrix.Length][];
for (int i = 0; i < matrix.Length; i++)
{
ExploredGrid[i] = new bool[matrix[i].Length];
for (int j = 0; j < matrix[i].Length; j++)
{
ExploredGrid[i][j] = (matrix[i][j] == LayerMask.NameToLayer("Obstacle")) ? true : false;
}
}
//Label all the nodes with an infinite score
int[][] Grid = new int[matrix.Length][];
for (int i = 0; i < matrix.Length; i++)
{
Grid[i] = new int[matrix[i].Length];
for (int j = 0; j < matrix[i].Length; j++)
{
Grid[i][j] = int.MaxValue;
}
}
int[][] HeuristicGrid = new int[matrix.Length][];
for (int i = 0; i < matrix.Length; i++)
{
HeuristicGrid[i] = new int[matrix[i].Length];
for (int j = 0; j < matrix[i].Length; j++)
{
HeuristicGrid[i][j] = ManhattanScore(i, j);
}
}
// get position
var startPosX = PlayerScript.StartXPositionInMatrix;
var startPosY = PlayerScript.StartYPositionInMatrix;
var endPosX = PlayerScript.GoalXPositionInMatrix;
var endPosY = PlayerScript.GoalYPositionInMatrix;
// init start pos at 0
Grid[startPosX][startPosY] = 0;
ExploredGrid[startPosX][startPosY] = true;
//define move cost
const int moveCost = 1;
//define the current case
var currentPos = new currentNode
{
XPos = startPosX,
YPos = startPosY
};
var it = 0;
while (true)
{
Instantiate(CubeCurrentNode, new Vector3(currentPos.XPos - 25, -0.9f, currentPos.YPos - 25), Quaternion.identity);
if (currentPos.XPos == endPosX && currentPos.YPos == endPosY)
{
Debug.Log("Solution found in " + it + " iterations");
//todo return the optimal path
break;
}
MarkNeighbourNode(Grid, ExploredGrid, currentPos, moveCost);
currentPos = MoveToNextNodeWithHeuristic(Grid, HeuristicGrid, ExploredGrid, currentPos);
it++;
yield return(null);
}
_isRunning = false;
yield return(null);
}
