// Return path
public static List <Vector3> ComputePath(ReducedVisibility singleton, Vector2 start, Vector2 end)
{
Global.pathPlanned++;
Stopwatch sw = Stopwatch.StartNew();
Vector2 dir = end - start;
Vector3 pos = new Vector3(start.x, start.y, Global.obstacleZ);
List <Vector3> path;
// if you can reach it directly
if (!Physics.BoxCast(pos, Agent.halfExtents, dir, Quaternion.identity, dir.magnitude))
{
Vector3 vDest = new Vector3(end.x, end.y, Global.agentZ);
pos.z = Global.agentZ;
path = new List <Vector3>()
{
vDest, pos
};
}
else
{
var g = new Graph(singleton, start, end);
path = g.AStarSearch();
}
sw.Stop();
Global.total += sw.Elapsed;
return(path);
}
public Graph(ReducedVisibility singleton, Vector2 start, Vector2 end)
{
List <GraphNode> nodes = new List <GraphNode>(singleton.vertices.Count + 2);
orig = new GraphNode(new Vertex {
value = start
}, 0);
dest = new GraphNode(new Vertex {
value = end
}, 0);
foreach (var v in singleton.vertices)
{
var node = new GraphNode(v, v.neighbors.Count + 1);
v.curdownstream = node;
nodes.Add(node);
}
Vector3 startPos = new Vector3(start.x, start.y, Global.obstacleZ);
Vector3 endPos = new Vector3(end.x, end.y, Global.obstacleZ);
Vector3 tmp = new Vector3();
foreach (var node in nodes)
{
tmp.x = node.v.value.x;
tmp.y = node.v.value.y;
tmp.z = Global.obstacleZ;
if (!Physics.Linecast(startPos, tmp))
{
var cost = (start - node.v.value).magnitude;
orig.neighbors.Add((node, cost));
node.neighbors.Add((orig, cost));
}
if (!Physics.Linecast(endPos, tmp))
{
var cost = (end - node.v.value).magnitude;
dest.neighbors.Add((node, cost));
node.neighbors.Add((dest, cost));
}
foreach (var(n, cost) in node.v.neighbors)
{
node.neighbors.Add((n.curdownstream, cost));
}
}
}
void ShowReducedVisabilityGraph()
{
Graph = new ReducedVisibility(shapes);
foreach (var vertex in Graph.vertices)
{
Instantiate(Point, vertex.getValue(Global.graphZ), Quaternion.identity);
}
foreach (var(v1, v2) in Graph.edges)
{
var ret = Instantiate(Line);
LineRenderer lr = ret.GetComponent <LineRenderer>();
var pos = new Vector3[] { v1.getValue(Global.graphZ), v2.getValue(Global.graphZ) };
lr.positionCount = pos.Length;
lr.SetPositions(pos);
lr.startColor = Color.blue;
lr.endColor = Color.yellow;
lr.startWidth = 0.05f;
lr.endWidth = 0.05f;
}
}
void Start()
{
if (graph == null)
{
graph = FindObjectOfType <LevelManager>().Graph;
}
// Set Color
var color = Random.ColorHSV();
color.a = 1;
Renderer.color = color;
var pos = Global.RandomPosition(halfExtents);
pos.z = Global.agentZ;
destination = Instantiate(destinationPrefab, pos, Quaternion.identity);
destination.GetComponent <SpriteRenderer>().color = Renderer.color;
GoToDestination();
}
