void Update()
{
mousePos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
if (Input.GetMouseButtonDown(0))
{
//grid.SetGridObject(mousePos, 100);
//grid.GetGridObject(mousePos).SetXY(0, 0);
Debug.Log(grid.GetGridObject(mousePos).GetX());
Debug.Log(grid.GetGridObject(mousePos).GetY());
}
if (Input.GetMouseButtonDown(1))
{
grid.SetGridObject(mousePos, default);
}
}
public List <PathNode> FindPath(int startX, int startY, int endX, int endY)
{
PathNode startNode = pathGrid.GetGridObject(startX, startY);
PathNode endNode = pathGrid.GetGridObject(endX, endY);
openList = new List <PathNode> {
startNode
};
closedList = new List <PathNode>();
for (int x = 0; x < pathGrid.GetWidth(); x++)
{
for (int y = 0; y < pathGrid.GetHeight(); y++)
{
PathNode pathNode = pathGrid.GetGridObject(x, y);
pathNode.gCost = int.MaxValue;
pathNode.CalculateFCost();
pathNode.cameFromNode = null;
}
}
startNode.gCost = 0;
startNode.hCost = CalculateDistanceCost(startNode, endNode);
startNode.CalculateFCost();
while (openList.Count > 0)
{
PathNode currentNode = GetLowestFCost(openList);
if (currentNode == endNode)
{
//End reached
return(CalculatePath(endNode));
}
openList.Remove(currentNode); //current node already searched
closedList.Add(currentNode);
foreach (PathNode neighbourNode in GetNeighbourList(currentNode))
{
if (closedList.Contains(neighbourNode))
{
continue;
}
int tentativeGCost = currentNode.gCost + CalculateDistanceCost(currentNode, neighbourNode);
if (tentativeGCost < neighbourNode.gCost)
{
Debug.DrawLine(pathGrid.GetTilePosition(currentNode.x, currentNode.y) + 0.45f * Vector3.one, pathGrid.GetTilePosition(neighbourNode.x, neighbourNode.y) + 0.45f * Vector3.one, Color.yellow, 200f, false);
neighbourNode.cameFromNode = currentNode;
neighbourNode.gCost = tentativeGCost;
neighbourNode.hCost = CalculateDistanceCost(neighbourNode, endNode);
neighbourNode.CalculateFCost();
if (!openList.Contains(neighbourNode))
{
openList.Add(neighbourNode); // PROBLEM IF MULTIPLE SOLUTIONS???
}
}
}
}
// out of node in the open list
return(null);
}
public List <PathfindingNode> FindTarget(Vector2 startPos, Vector2 endPos)
{
if (grid.GetGridObject(endPos) == null)
{
return(null);
}
PathfindingNode startNode = grid.GetGridObject(startPos);
PathfindingNode endNode = grid.GetGridObject(endPos);
openNodes = new List <PathfindingNode> {
startNode
};
closedNodes = new List <PathfindingNode>();
for (int i = 0; i < grid.GetGridWidth(); i++)
{
for (int j = 0; j < grid.GetGridHeight(); j++)
{
PathfindingNode node = grid.GetGridObject(i, j);
node.gCost = int.MaxValue;
node.CalculateFCost();
node.parentNode = null;
}
}
startNode.gCost = 0;
startNode.hCost = GetDistanceValue(startNode, endNode);
startNode.CalculateFCost();
while (openNodes.Count > 0)
{
PathfindingNode currentNode = GetLowestValueNode(openNodes);
if (currentNode == endNode)
{
return(CalculateFinalPath(endNode));
}
openNodes.Remove(currentNode);
closedNodes.Add(currentNode);
foreach (PathfindingNode neighbor in FindNeighbor(currentNode))
{
if (closedNodes.Contains(neighbor))
{
continue;
}
if (!neighbor.isWalkable)
{
closedNodes.Add(neighbor);
/*
* for(int i = -2; i < 3; i++)
* {
* for(int j = -2; j < 3; j++)
* {
* closedNodes.Add(grid.GetGridObject(neighbor.GetX() + i, neighbor.GetY() + j));
* }
* }
*/
continue;
}
int newGCost = currentNode.gCost + GetDistanceValue(currentNode, neighbor);
if (newGCost < neighbor.gCost)
{
neighbor.parentNode = currentNode;
neighbor.gCost = newGCost;
neighbor.hCost = GetDistanceValue(currentNode, endNode);
neighbor.CalculateFCost();
}
if (!openNodes.Contains(neighbor))
{
openNodes.Add(neighbor);
}
}
}
return(null);
}