void LateUpdate()
{
if (Global.Instance.wayFinding == true)
{
foreach (Transform child in parent.transform)
{
Destroy(child.gameObject);
}
foreach (AStar.Node n in Global.Instance.grid.path)
{
// print(n.position.X + ", " + n.position.Y);
GameObject newWaypoint = Instantiate(waypoint, new Vector3(n.position.X, 0, n.position.Y), Quaternion.identity);
newWaypoint.transform.parent = parent.transform;
}
;
AStar.Node goalNode = Global.Instance.grid.path.Last();
GameObject newGoal = Instantiate(goal, new Vector3(goalNode.position.X, 0, goalNode.position.Y), Quaternion.identity);
newGoal.transform.parent = parent.transform;
print("Waypoints Instantiated");
}
}
public static Dictionary <RegionWithEquipment, AStar.Node> CreateNodes(Dictionary <Point, GeographicalRegion> geographicalRegions, RegionWithEquipment target)
{
var nodeId = 1;
var equipmentSet = Enum.GetValues(typeof(Equipment));
var nodeMap = new Dictionary <RegionWithEquipment, AStar.Node>();
foreach (var geographicalRegion in geographicalRegions)
{
foreach (Equipment equipment in equipmentSet)
{
var regionWithEquipment = new RegionWithEquipment(geographicalRegion.Value, equipment);
var node = new AStar.Node(nodeId++, regionWithEquipment.Location.ManhattanDistance(target.Location), regionWithEquipment.ToString());
nodeMap.Add(regionWithEquipment, node);
}
}
foreach (var regionNode in nodeMap)
{
var regionWithEquipment = regionNode.Key;
var node = regionNode.Value;
var neighbors = regionWithEquipment.Neighbors(geographicalRegions);
node.Neighbors = neighbors
.Select(n => new AStar.Neighbor(nodeMap[n], regionWithEquipment.DistanceTo(n)))
.ToList();
}
return(nodeMap);
}
/// <summary>
/// ルートを変更して移動する関数
/// </summary>
void rootChangeMove()
{
if (state != State.ROOT_CHANGE)
{
return;
}
int x = (int)retCell().x;
int y = (int)retCell().y;
if (astarstate == AstarState.SEARCH)
{
while (astar_trycount < 5000)
{
nodemanager.removeOpenNode(node);
nodemanager.openAround(node);
node = nodemanager.searchMinScoreNodeFromOpenNodeList();
if (node == null)
{
break;
}
if (node.x == goalpos.x && node.y == goalpos.y)
{
nodemanager.removeOpenNode(node);
node.getRootList(rootlist);
rootlist.Reverse();
astarstate = AstarState.WORK_START;
astar_trycount = 0;
break;
}
astar_trycount++;
}
}
else if (astarstate == AstarState.WORK_START)
{
if (astarmovecount >= rootlist.Count - 1)
{
astarmovecount = 0;
state = State.ROOT_NORMALMOVE;
return;
}
astarmovecount++;
nextmovecell = new Vector2(rootlist[astarmovecount].x, rootlist[astarmovecount].y);
directionChange(x, y, (int)nextmovecell.x, (int)nextmovecell.y);
astarstate = AstarState.WORK;
}
else if (astarstate == AstarState.WORK)
{
float s = up_speed;
directionMove(s);
move_value += s;
if (move_value >= mapchip.chip_size)
{
adjustPosition(x, y);
astarstate = AstarState.WORK_START;
move_value = 0;
}
}
}
static void Main()
{
int[,] gridMatrix = new int[, ] {
{ 1, 1, 1, 0 },
{ 1, 0, 1, 0 },
{ 1, 1, 0, 1 },
{ 0, 0, 0, 1 },
{ 0, 0, 1, 1 },
};
//Starting node at row 0, column 0
AStar.Node start = new AStar.Node(0, 0);
//Goal node at row 4, column 2
AStar.Node goal = new AStar.Node(4, 2);
List <AStar.Node> path = AStar.FindPath(start, goal, gridMatrix);
if (path != null)
{
Console.WriteLine("This is the path from " + start + " to " + goal);
foreach (AStar.Node p in path)
{
Console.WriteLine(p);
}
}
else
{
Console.WriteLine("There is no path from " + start + " to " + goal);
}
Console.Read();
}
void Start()
{
//change flags for the gameObject they represent
toRespaw.ForEach(x =>
{
var __flagOfThisColorInScreen = map.GetTileObjectsByImageName(GetFlagName(x.flag));
while (__flagOfThisColorInScreen.Count > 0)
{
var __flagObj = __flagOfThisColorInScreen[0];
__flagOfThisColorInScreen.Remove(__flagObj);
Vector3 __positionToSpawn = __flagObj.transform.position;
Destroy(__flagObj.gameObject);
GameObject.Instantiate(x.respaw, __positionToSpawn, x.respaw.transform.rotation);
}
});
//get pathable nodes
List <TileObject> __iaWalkableTiles = map.GetIaWalkableTiles();
foreach (TileObject tile in __iaWalkableTiles)
{
AStar.Node __node = new AStar.Node();
__node.position = new Vector2(tile.transform.position.x, tile.transform.position.z);
__node.nodeTransform = tile.transform;
_pathableNodes.Add(__node);
}
//set up neighbours
foreach (var node in _pathableNodes)
{
foreach (var possibleNeighbour in _pathableNodes)
{
if (possibleNeighbour == node)
{
continue;
}
//check to see if the possible neightbour is indeed a neighbour
if ((possibleNeighbour.position.x + 1 == node.position.x || possibleNeighbour.position.x - 1 == node.position.x || possibleNeighbour.position.x == node.position.x) &&
(possibleNeighbour.position.y + 1 == node.position.y || possibleNeighbour.position.y - 1 == node.position.y || possibleNeighbour.position.y == node.position.y))
{
node.neighbours.Add(possibleNeighbour);
}
}
}
if (onSpawningFinished != null)
{
onSpawningFinished();
}
}
/// <summary>
/// A*準備
/// </summary>
void astarSetup()
{
rootRandomDecide();
astarstate = AstarState.SEARCH;
int x = (int)retCell().x;
int y = (int)retCell().y;
var startpos = new AStar.RootPosition(x, y);
Vector2 tempgoalpos;
tempgoalpos = getGoalCell();
goalpos = new AStar.RootPosition((int)tempgoalpos.x, (int)tempgoalpos.y);
nodemanager = new AStar.NodeManager(goalpos.x, goalpos.y, mapchip);
node = nodemanager.openNode(startpos.x, startpos.y, 0, null);
nodemanager.addOpenNode(node);
rootlist = new List <AStar.RootPosition>();
astar_trycount = 0;
astarmovecount = 0;
}