public void WalkAlongPath()
{
Vector3 targetPosition = (Vector3)_targetNode.GetNodePosition();
if (Vector3.Distance(_position, targetPosition) < _nodeCollisionRange)
{
if (_pathList.IndexOf(_targetNode) != _pathList.Count - 1)
{
_targetNode = _pathList [_pathList.IndexOf(_targetNode) + 1];
}
else
{
_meshObject.transform.position = targetPosition;
}
}
else
{
Vector3 nodePosition = _targetNode.GetNodePosition();
_meshObject.transform.position += (nodePosition - _meshObject.transform.position).normalized * _speed * Time.deltaTime;
}
}
public Script_Node CalculatePath(Script_Node p_initialNode)
{
//Based on pseudoCode found here: https://www.raywenderlich.com/3016-introduction-to-a-pathfinding
AddOpenListElementAtPosition(p_initialNode.GetNodePosition().x, p_initialNode.GetNodePosition().z, p_initialNode);
while (_openDictionary.Values.Count > 0)
{
Script_Node currentNode = GetLowestFScoreOpenDictionary();
AddClosedListElementAtPosition(currentNode.GetNodePosition().x, currentNode.GetNodePosition().z, currentNode);
RemoveOpenListElementAtPosition(currentNode.GetNodePosition().x, currentNode.GetNodePosition().z);
foreach (Script_Node node in _closedDictionary.Values)
{
if (node.GetNodePosition().x == node.GetNodeDestination().x&& node.GetNodePosition().z == node.GetNodeDestination().z)
{
return(node);
}
}
CalculateNeighbours(currentNode);
}
return(null);
}
private void CalculateNeighbours(Script_Node p_node)
{
int xCurrent = p_node.GetNodePosition().x;
int zCurrent = p_node.GetNodePosition().z;
int xMin = xCurrent;
int xMax = xCurrent;
int zMin = zCurrent;
int zMax = zCurrent;
for (int x = xCurrent - 1; x <= xCurrent; x++)
{
if (x < 0)
{
continue;
}
xMin = x;
break;
}
for (int x = xCurrent + 1; x >= xCurrent; x--)
{
if (x >= _grid.GetWidth())
{
continue;
}
xMax = x;
break;
}
for (int z = zCurrent - 1; z <= zCurrent; z++)
{
if (z < 0)
{
continue;
}
zMin = z;
break;
}
for (int z = zCurrent + 1; z >= zCurrent; z--)
{
if (z >= _grid.GetHeight())
{
continue;
}
zMax = z;
break;
}
for (int z = zMin; z <= zMax; z++)
{
for (int x = xMin; x <= xMax; x++)
{
if (_grid.AccessGridTile(x, z).GetWalkable() == true && !_closedDictionary.ContainsKey(z * _grid.GetWidth() + x))
{
if ((x != xCurrent && z != zCurrent))
{
if (_grid.AccessGridTile(x, z + (zCurrent - z)) != null && _grid.AccessGridTile(x, z + (zCurrent - z)).GetWalkable() == false)
{
continue;
}
if (_grid.AccessGridTile(x + (xCurrent - x), z) != null && _grid.AccessGridTile(x + (xCurrent - x), z).GetWalkable() == false)
{
continue;
}
}
int tempGScore = 0;
if (x == xCurrent || z == zCurrent)
{
tempGScore = Constants.linearMovementCost;
}
else
{
tempGScore = Constants.diagonalMovementCost;
}
if (_openDictionary.ContainsKey(z * _grid.GetWidth() + x))
{
Script_Node node = GetOpenListElement(x, z);
if (node.GetParent() != null)
{
tempGScore += p_node.GetGScore();
}
if (tempGScore < node.GetGScore())
{
node.SetGScore(tempGScore);
node.CalculateFScore();
node.SetParent(p_node);
}
}
if (!_openDictionary.ContainsKey(z * _grid.GetWidth() + x))
{
Vector3Int location = new Vector3Int(x, 0, z);
Script_Node newNode = new Script_Node(location, p_node.GetNodeDestination(), p_node);
tempGScore += newNode.GetParent().GetGScore();
newNode.SetGScore(tempGScore);
newNode.CalculateHScore();
newNode.CalculateFScore();
AddOpenListElementAtPosition(x, z, newNode);
}
}
}
}
}
