IEnumerator showPath(IList <AStarNode> list, AStarMap map)
{
if (list == null || list.Count == 0)
{
yield return(new WaitForSeconds(0.1f));
print("No Path");
}
else
{
var obj = GameObject.Instantiate(m_Rect);
obj.SetActive(true);
obj.transform.SetParent(transform);
obj.transform.localScale = Vector3.one;
var img = obj.GetComponent <SpriteRenderer>();
img.color = Color.red;
foreach (var i in list)
{
yield return(new WaitForSeconds(0.1f));
img.transform.localPosition = map.GetMapData().GetMapPoints()[i.X, i.Y].Position;//new Vector2(10*i.X,10*i.Y);
}
}
}
public static void run(String[] args)
{
Point a = new Point(49, 49);
Point b = new Point(0, 0);
Logger log = new Logger();
Stopwatch s = new Stopwatch();
log.addToLog("Initializing " + mapWidth + "x" + mapHeight + " map...");
initMap();
AStarMap map = new AStarMap(mapWidth, mapHeight, obstacleMap);
log.addToLog("Generating Bresenham's Line from " + a.x + "," + a.y + " to " + b.x + "," + b.y + "...");
s.Start();
List <Point> line = Bresenham.getCellsOnLine(a, b);
s.Stop();
log.addToLog("Generation took " + s.ElapsedMilliseconds + " ms");
String str = "";
foreach (Point point in line)
{
str = str + "(" + point.x + "," + point.y + ") ";
}
log.addToLog("Line is:" + str);
log.addToLog("Writing line to map...");
log.addToLog("Printing map...");
new PrintMap(map, line);
}
public void Init(int row, int col, MapCtr map, AStarMap astarMap, PlayerCtrEx target, bool isLeft)
{
startRow = row;
startCol = col;
m_data = GetComponent <PlayerData> ();
m_data.Init(row, col, map);
m_astarMap = astarMap;
m_target = target;
m_data.RegisterMoveOverEvent(AutoMoveOver);
if (isLeft)
{
if (m_astarMap.GetCell(m_data.Row, m_data.Column).IsToLeft)
{
m_data.Move(-1, 0);
}
else
{
m_data.Move(1, 0);
}
}
else
{
if (m_astarMap.GetCell(m_data.Row, m_data.Column).IsToRight)
{
m_data.Move(1, 0);
}
else
{
m_data.Move(-1, 0);
}
}
}
/**
* removes the specified node from the open list
* @param the node to remove from the open list
*/
public void RemoveFromOpenList(short nodeId, AStarMap map)
{
AStarNode removeNode = FindInOpenList(nodeId);
if (removeNode != null)
{
AStarNode next = removeNode.Next;
AStarNode previous = removeNode.Previous;
if (next != null)
{
next.Previous = previous;
}
if (previous != null)
{
previous.Next = next;
}
if (headOfOpenList == removeNode)
{
headOfOpenList = next;
}
removeNode.Next = null;
removeNode.Previous = null;
removeNode.Flag = AStarNode.E_AStarFlags.Unchecked;
map.SetAStarFlags(removeNode.NodeID, AStarNode.E_AStarFlags.Unchecked);
openSize--;
}
}
public static void run(String[] args)
{
Point a = new Point(49, 49);
Point b = new Point(0, 0);
Logger log = new Logger();
Stopwatch s = new Stopwatch();
log.addToLog("Initializing "+mapWidth+"x"+mapHeight+" map...");
initMap();
AStarMap map = new AStarMap(mapWidth, mapHeight, obstacleMap);
log.addToLog("Generating Bresenham's Line from "+a.x+","+a.y+" to "+b.x+","+b.y+"...");
s.Start();
List<Point> line = Bresenham.getCellsOnLine(a, b);
s.Stop();
log.addToLog("Generation took " + s.ElapsedMilliseconds + " ms");
String str = "";
foreach(Point point in line)
{
str = str+"("+point.x+","+point.y+") ";
}
log.addToLog("Line is:" + str);
log.addToLog("Writing line to map...");
log.addToLog("Printing map...");
new PrintMap(map, line);
}
public AStarReturnObject(AStarNode finalNode, ArrayList closedList, BinaryHeap heap, AStarMap map)
{
this.finalNode = finalNode;
this.closedList = closedList;
this.heap = heap;
this.map = map;
}
public static void run(String[] args)
{
Logger log = new Logger();
Stopwatch s = new Stopwatch();
log.addToLog("Map initializing...");
AStarMap map = new AStarMap(mapData.getMapWidth(), mapData.getMapHeight(), mapData.getObstacleMap());
log.addToLog("Heuristic initializing...");
//AStarHeuristic heuristic = new ClosestHeuristic();
AStarHeuristic heuristic = new DiagonalHeuristic();
log.addToLog("AStar initializing...");
AStar aStar = new AStar(map, heuristic);
log.addToLog("Calculating shortest path...");
s.Start();
List<Point> shortestPath = aStar.calcShortestPath(startX, startY, goalX, goalY);
s.Stop();
log.addToLog("Time to calculate path in milliseconds: " + s.ElapsedMilliseconds);
log.addToLog("Printing map of shortest path...");
new PrintMap(map, shortestPath);
}
void SetCharWaypoint(Vector3 position)
{
if (selectedChar.path.waypoints.Count < 1)
{
startNode = FindClosestNode(selectedChar.position);
}
else
{
startNode = FindClosestNode(selectedChar.path.waypoints[selectedChar.path.waypoints.Count - 1].position);
}
goalNode = FindClosestNode(position);
if (goalNode != null && startNode != null && startNode != goalNode)
{
AStarMap astar = new AStarMap(nodeList, goalNode, startNode);
Path newPath = astar.AStarPath();
newPath.OptimizePath();
selectedChar.AddWaypoints(newPath.waypoints);
selectedChar.path.CreatePathMesh();
PurgeAllNodes();
}
else
{
Debug.Log("start and goal node is probably the same");
}
startNode = null;
goalNode = null;
}
void ReadCatch()
{
AStarMap map = AStarMapStream.Read(Application.dataPath + "/MapCatch");
FromMap(map);
FileUtil.DeleteFileOrDirectory(Application.dataPath + "/MapCatch");
}
public static void run(String[] args)
{
Logger log = new Logger();
Stopwatch s = new Stopwatch();
log.addToLog("Map initializing...");
AStarMap map = new AStarMap(mapData.getMapWidth(), mapData.getMapHeight(), mapData.getObstacleMap());
log.addToLog("Heuristic initializing...");
//AStarHeuristic heuristic = new ClosestHeuristic();
AStarHeuristic heuristic = new DiagonalHeuristic();
log.addToLog("AStar initializing...");
AStar aStar = new AStar(map, heuristic);
log.addToLog("Calculating shortest path...");
s.Start();
List <Point> shortestPath = aStar.calcShortestPath(startX, startY, goalX, goalY);
s.Stop();
log.addToLog("Time to calculate path in milliseconds: " + s.ElapsedMilliseconds);
log.addToLog("Printing map of shortest path...");
new PrintMap(map, shortestPath);
}
/// <summary>
/// Start is called on the frame when a script is enabled just before
/// any of the Update methods is called the first time.
/// </summary>
void Start()
{
// AStarPoint[,] array = new AStarPoint[128,64];
AStarPoint[,] array = new AStarPoint[128, 64];
for (int i = 0; i < array.GetLength(0); ++i)
{
for (int j = 0; j < array.GetLength(1); ++j)
{
var obj = GameObject.Instantiate(m_Rect);
obj.SetActive(true);
obj.transform.SetParent(transform);
obj.transform.localScale = Vector3.one;
obj.transform.localPosition = new Vector2(i * 0.2f, j * 0.2f);
var img = obj.GetComponent <SpriteRenderer>();
array[i, j] = new AStarPoint(i, j);
array[i, j].Value = m_Txt.GetPixel(i, j) == Color.white?0:1;
array[i, j].Position = obj.transform.localPosition;
img.color = array[i, j].Value == 0?Color.white:Color.black;
obj.GetComponent <CirclePointSprite>().OnMouseUpHandler = OnMouseClickHandler;
}
}
map = new AStarMap(new AStarMapData(array));
// AStar.GetInstance().FindPathAsyn(map,new AStarNode(10,10),new AStarNode(115,32),true,(e)=>
// {
// print("1cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
// AStar.GetInstance().FindPathAsyn(map.Clone(),new AStarNode(11,9),new AStarNode(115,8),true,(e)=>
// {
// print("2cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
// AStar.GetInstance().FindPathAsyn(map.Clone(),new AStarNode(17,23),new AStarNode(66,8),true,(e)=>
// {
// print("3cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
// AStar.GetInstance().FindPathAsyn(map.Clone(),new AStarNode(66,7),new AStarNode(15,22),true,(e)=>
// {
// print("4cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
// AStar.GetInstance().FindPathAsyn(map.Clone(),new AStarNode(115,31),new AStarNode(11,11),true,(e)=>
// {
// print("5cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
}
/// <summary>
/// Start is called on the frame when a script is enabled just before
/// any of the Update methods is called the first time.
/// </summary>
void Start()
{
AStarPoint[,] array = new AStarPoint[(int)128, (int)64];
for (int i = 0; i < array.GetLength(0); ++i)
{
for (int j = 0; j < array.GetLength(1); ++j)
{
var obj = GameObject.Instantiate(m_Rect);
obj.SetActive(true);
obj.transform.SetParent(transform);
obj.transform.localScale = Vector3.one;
obj.GetComponent <RectTransform>().anchoredPosition = new Vector2(i * 10, j * 10);
var img = obj.GetComponent <Image>();
array[i, j] = new AStarPoint(i, j);
array[i, j].Value = m_Txt.GetPixel(i, j) == Color.white?0:1;
array[i, j].Position = obj.GetComponent <RectTransform>().anchoredPosition;
img.color = array[i, j].Value == 0?Color.white:Color.black;
}
}
AStarMap map = new AStarMap(new AStarMapData(array));
float t = Time.time;
//var rst = map.GetPath(new AStarNode(1,1),new AStarNode(6,10),false);
AStar.GetInstance().FindPathAsyn(map, new AStarNode(10, 10), new AStarNode(115, 32), true, (e) =>
{
print("1cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
AStar.GetInstance().FindPathAsyn(map.Clone(), new AStarNode(11, 9), new AStarNode(115, 8), true, (e) =>
{
print("2cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
AStar.GetInstance().FindPathAsyn(map.Clone(), new AStarNode(17, 23), new AStarNode(66, 8), true, (e) =>
{
print("3cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
AStar.GetInstance().FindPathAsyn(map.Clone(), new AStarNode(66, 7), new AStarNode(15, 22), true, (e) =>
{
print("4cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
AStar.GetInstance().FindPathAsyn(map.Clone(), new AStarNode(115, 31), new AStarNode(11, 11), true, (e) =>
{
print("5cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
}
/**
* Initialise the A Star machine to run a search
* @param the Goal we are searching towards
* @param the Storage which will store the open and closed lists
* @param the map which will get the neighbours, heuristic/action costs for the search
*/
public void Setup(AStarGoal _goal, AStarStorage _storage, AStarMap _aStarMap)
{
Goal = _goal;
Storage = _storage;
Map = _aStarMap;
Storage.ResetStorage(Map);
}
public PrintMap(AStarMap map, List <Point> shortestPath)
{
StringBuilder sb = new StringBuilder();
AStarCell cell;
for (int y = 0; y < map.getMapHeight(); y++)
{
if (y == 0)
{
for (int i = 0; i <= map.getMapHeight(); i++)
{
sb.Append("-");
}
sb.AppendLine();
}
sb.Append("|");
for (int x = 0; x < map.getMapWith(); x++)
{
cell = map.getCell(x, y);
if (cell == null || cell.isObstacle())
{
sb.Append("X");
}
else if (isStart(shortestPath, cell.getPoint()))
{
sb.Append("s");
}
else if (isGoal(shortestPath, cell.getPoint()))
{
sb.Append("g");
}
else if (contains(shortestPath, cell.getPoint()))
{
sb.Append("?");
}
else
{
sb.Append(" ");
}
if (y == map.getMapHeight())
{
sb.Append("_");
}
}
sb.Append("|");
sb.AppendLine();
}
for (int i = 0; i <= map.getMapHeight(); i++)
{
sb.Append("-");
}
System.Console.SetWindowSize(System.Console.LargestWindowWidth, System.Console.LargestWindowHeight);
System.Console.Write(sb.ToString());
}
public PrintMap(AStarMap map, List<Point> shortestPath)
{
StringBuilder sb = new StringBuilder();
AStarCell cell;
for(int y = 0; y < map.getMapHeight(); y++)
{
if(y == 0)
{
for (int i = 0; i <= map.getMapHeight(); i++)
{
sb.Append("-");
}
sb.AppendLine();
}
sb.Append("|");
for(int x = 0; x < map.getMapWith(); x++)
{
cell = map.getCell(x, y);
if(cell == null || cell.isObstacle())
{
sb.Append("X");
}
else if(isStart(shortestPath, cell.getPoint()))
{
sb.Append("s");
}
else if(isGoal(shortestPath, cell.getPoint()))
{
sb.Append("g");
}
else if (contains(shortestPath, cell.getPoint()))
{
sb.Append("?");
}
else
{
sb.Append(" ");
}
if(y==map.getMapHeight())
{
sb.Append("_");
}
}
sb.Append("|");
sb.AppendLine();
}
for (int i = 0; i <= map.getMapHeight(); i++)
{
sb.Append("-");
}
System.Console.SetWindowSize(System.Console.LargestWindowWidth, System.Console.LargestWindowHeight);
System.Console.Write(sb.ToString());
}
/**
* Cleanup
*/
public void Cleanup()
{
Goal = null;
Map = null;
Storage = null;
CurrentNode = null;
Start = 0;
End = 0;
}
public static void Write(AStarMap map, string path)
{
FileStream fs = new FileStream(path, FileMode.Create);
string jsonStr = JsonMapper.ToJson(map);
byte[] data = Encoding.ASCII.GetBytes(jsonStr);
fs.Write(data, 0, data.Length);
fs.Flush();
fs.Close();
}
// Use this for initialization
public void Init(int row, int col, MapCtr map, AStarMap astarMap, PlayerCtrEx target)
{
startRow = row;
startCol = col;
m_data = GetComponent <PlayerData> ();
m_data.Init(row, col, map);
m_astarMap = astarMap;
m_target = target;
m_data.RegisterMoveOverEvent(MoveOver);
FindPath();
}
AStarMap ToMap()
{
AStarMap map = new AStarMap(m_row, m_column);
for (int i = 0; i < m_row; i++)
{
for (int j = 0; j < m_column; j++)
{
map.SetCell(i, j, m_cellArray [j, i].ToMapCell());
}
}
return(map);
}
void FromMap(AStarMap map)
{
ClearMap();
m_column = map.Column;
m_row = map.Row;
CreateMap();
for (int i = 0; i < m_row; i++)
{
for (int j = 0; j < m_column; j++)
{
m_cellArray [j, i].FromMapCell(map.GetCell(i, j));
}
}
}
public static AStarMap Read(string path)
{
FileStream fs = new FileStream(path, FileMode.Open);
byte[] data = new byte[fs.Length];
fs.Seek(0, SeekOrigin.Begin);
fs.Read(data, 0, (int)fs.Length);
string jsonStr = Encoding.ASCII.GetString(data);
AStarMap map = JsonMapper.ToObject <AStarMap> (jsonStr);
fs.Close();
return(map);
}
public void ReadMap()
{
if (!string.IsNullOrEmpty(m_filePath))
{
SaveMap();
}
m_filePath = EditorUtility.OpenFilePanel("Read map file", Application.dataPath, "txt");
if (string.IsNullOrEmpty(m_filePath))
{
return;
}
AStarMap map = AStarMapStream.Read(m_filePath);
FromMap(map);
}
IEnumerator showPath(IList <AStarNode> list, AStarMap map)
{
var obj = GameObject.Instantiate(m_Rect);
obj.SetActive(true);
obj.transform.SetParent(transform);
obj.transform.localScale = Vector3.one;
var img = obj.GetComponent <Image>();
img.color = Color.red;
foreach (var i in list)
{
yield return(new WaitForSeconds(0.1f));
img.GetComponent <RectTransform>().anchoredPosition = map.GetMapData().GetMapPoints()[i.X, i.Y].Position;//new Vector2(10*i.X,10*i.Y);
}
}
public void ReadMap(string fileName)
{
Debug.Log("MapCtr::ReadMap");
Debug.Log(GameDebug.GetInvokeClassAndMethodName(1));
Debug.Log(GameDebug.GetInvokeClassAndMethodName(2));
Debug.Log(GameDebug.GetInvokeClassAndMethodName(3));
if (string.IsNullOrEmpty(fileName))
{
return;
}
Debug.Log(Application.dataPath);
string dir = Application.dataPath + "/";
PathfindingMap = AStarMapStream.Read(dir + fileName + "_astar.txt");
MapData map = MapStream.Read(dir + fileName + ".txt");
FromMapData(map);
}
public void AutoAStarMap()
{
if (cells == null)
{
return;
}
string filePath;
filePath = EditorUtility.SaveFilePanel("Save map file", Application.dataPath, "", "txt");
if (string.IsNullOrEmpty(filePath))
{
return;
}
AStarMap map = SpriteMap2AStarMap.SpriteMapToAStarMap(ToMapData());
AStarMapStream.Write(map, filePath);
Debug.Log("AutoAStarMap success.");
}
void Start()
{
map = GetComponent <AStarMap>();
var trigger = GetComponent <EventTrigger>();
var entry = new EventTrigger.Entry();
entry.eventID = EventTriggerType.PointerClick;
entry.callback = new EventTrigger.TriggerEvent();
entry.callback.AddListener(e =>
{
if (map.CanChange)
{
float X = Input.mousePosition.x - Screen.width / 2f + 40;
float Y = Input.mousePosition.y - Screen.height / 2f + 40;
var pos = AStarMap.Pos2Index(new Vector2(X, Y));
map[pos.Item1, pos.Item2].Change();
}
});
trigger.triggers.Add(entry);
}
static void SetAStarMapCell_Second(MapData map, MapCellData cell, ref AStarMap astarMap)
{
// check second time
CELL_TYPE curType = (CELL_TYPE)cell.cellType;
if (curType == CELL_TYPE.STONE || curType == CELL_TYPE.WALL)
{
return;
}
if (cell.row - 1 >= 0)
{
MapCellData downCell = map.cells [(cell.row - 1) * map.column + cell.col];
CELL_TYPE downType = (CELL_TYPE)downCell.cellType;
if (downType == CELL_TYPE.WALL || downType == CELL_TYPE.STONE ||
downType == CELL_TYPE.LADDER)
{
//right
if (cell.col + 1 < map.column)
{
MapCellData rightCell = map.cells [(cell.row) * map.column + cell.col + 1];
CELL_TYPE rightType = (CELL_TYPE)rightCell.cellType;
if (rightType != CELL_TYPE.WALL && rightType != CELL_TYPE.STONE)
{
//astarMapCell.IsToRight = true;
astarMap.GetCell(rightCell.row, rightCell.col).IsToLeft = true;
}
}
//left
if (cell.col - 1 >= 0)
{
MapCellData leftCell = map.cells [(cell.row) * map.column + cell.col - 1];
CELL_TYPE leftType = (CELL_TYPE)leftCell.cellType;
if (leftType != CELL_TYPE.WALL && leftType != CELL_TYPE.STONE)
{
//astarMapCell.IsToLeft = true;
astarMap.GetCell(leftCell.row, leftCell.col).IsToRight = true;
}
}
}
}
}
public static AStarMap SpriteMapToAStarMap(MapData map)
{
AStarMap astar = new AStarMap(map.row, map.column);
for (int i = 0; i < map.row; i++)
{
for (int j = 0; j < map.column; j++)
{
SetAStarMapCell_First(map, map.cells [i * map.column + j], ref astar);
}
}
for (int i = 0; i < map.row; i++)
{
for (int j = 0; j < map.column; j++)
{
SetAStarMapCell_Second(map, map.cells [i * map.column + j], ref astar);
}
}
return(astar);
}
public static void run(String[] args)
{
Logger log = new Logger();
Stopwatch s = new Stopwatch();
log.addToLog("Map initializing...");
AStarMap map = new AStarMap(mapData.getMapWidth(), mapData.getMapHeight(), mapData.getObstacleMap());
s.Start();
PathFinder pathfinder = new PathFinder(map);
Point start = new Point(startX, startY);
Point goal = new Point(goalX, goalY);
List<Point> optimizedWaypoints = pathfinder.findStraightPath(start, goal);
s.Stop();
log.addToLog("Total pathfinding took: " + s.ElapsedMilliseconds + " ms");
log.addToLog("Printing map of optimized path...");
new PrintMap(map, optimizedWaypoints);
}
public static void run(String[] args)
{
Logger log = new Logger();
Stopwatch s = new Stopwatch();
log.addToLog("Map initializing...");
AStarMap map = new AStarMap(mapData.getMapWidth(), mapData.getMapHeight(), mapData.getObstacleMap());
s.Start();
PathFinder pathfinder = new PathFinder(map);
Point start = new Point(startX, startY);
Point goal = new Point(goalX, goalY);
List <Point> optimizedWaypoints = pathfinder.findStraightPath(start, goal);
s.Stop();
log.addToLog("Total pathfinding took: " + s.ElapsedMilliseconds + " ms");
log.addToLog("Printing map of optimized path...");
new PrintMap(map, optimizedWaypoints);
}
static Vector2 GetVacantPoint(int xStartRW, int yStartRW, AStarMap mapHook)
{
//layerMask -> red + blue
int layerMask = (1 << 8) | (1 << 9);
Collider[] units = Physics.OverlapBox(new Vector3(xStartRW + 2.5f, yStartRW + 2.5f, 0f), new Vector3(2.5f, 2.5f, 0f), Quaternion.identity, layerMask);
AStarNode[,] map = mapHook.map;
for (int i = 0; i < units.Length; i++)
{
map[(int)(units[i].transform.position.x), (int)(units[i].transform.position.y)].walkable = false;
}
List <Vector2> possiblePositions = new List <Vector2>();
for (int i = xStartRW; i < xStartRW + 6; i++)
{
for (int j = yStartRW; j < yStartRW + 6; j++)
{
if (map[i, j].walkable)
{
possiblePositions.Add(map[i, j].pos);
}
}
}
for (int i = 0; i < units.Length; i++)
{
map[(int)(units[i].transform.position.x), (int)(units[i].transform.position.y)].walkable = true;
}
if (possiblePositions.Count == 0)
{
Debug.Log("All is lost");
return(new Vector2(-1f, -1f));
}
Vector2 target = possiblePositions[Random.Range(0, possiblePositions.Count)];
return(target);
}
/**
* Adds the specified node to the open list.
* Insert new node to head of closed list
* @param the node to add
*/
public void AddToClosedList(AStarNode node, AStarMap map)
{
AStarNode currNode = headOfClosedList;
if (currNode != null)
{
node.Next = currNode;
node.Previous = null;
currNode.Previous = node;
headOfClosedList = node;
map.SetAStarFlags(node.NodeID, AStarNode.E_AStarFlags.Closed);
node.Flag = AStarNode.E_AStarFlags.Closed;
}
else
{
headOfClosedList = node;
node.Next = null;
node.Previous = null;
map.SetAStarFlags(node.NodeID, AStarNode.E_AStarFlags.Closed);
node.Flag = AStarNode.E_AStarFlags.Closed;
}
}
void SetCharWaypoint(Vector3 position)
{
if (startNode == null)
{
startNode = FindClosestNode(selectedChar.position);
}
Node goalNode = FindClosestNode(position);
if (goalNode != null)
{
AStarMap astar = new AStarMap(nodeList, goalNode, startNode);
astar.AStarPath();
Path path = new Path(astar.result);
allPaths.Add(path);
path.OptimizePath();
selectedChar.path = path;
}
else
{
if (selectedChar.path.waypoints.Count >= 1)
{
for (int i = 0; i < selectedChar.path.waypoints.Count - 2; i++)
{
Vector3 closestPoint = ClosestPointOnLine(selectedChar.path.waypoints[i].position, selectedChar.path.waypoints[i + 1].position, position);
if (Vector3.Distance(closestPoint, position) < 0.5f)
{
Node newNode = new Node(closestPoint.x, closestPoint.z);
nodeList.Add(newNode);
break;
}
}
}
}
startNode = null;
goalNode = null;
}
/**
* Removes the first node from the open list
* @return the node at the head of the list
*/
public AStarNode RemoveCheapestOpenNode(AStarMap map)
{
if (openSize == 0)
{
return(null);
}
AStarNode head = headOfOpenList;
if (openSize == 1)
{
headOfOpenList.Next = null;
headOfOpenList.Previous = null;
headOfOpenList = null;
head.Flag = AStarNode.E_AStarFlags.Unchecked;
map.SetAStarFlags(head.NodeID, AStarNode.E_AStarFlags.Unchecked);
openSize--;
}
else if (openSize > 1)
{
AStarNode front = headOfOpenList;
AStarNode Next = headOfOpenList.Next;
front.Next = null;
front.Previous = null;
front.Flag = AStarNode.E_AStarFlags.Unchecked;
map.SetAStarFlags(front.NodeID, AStarNode.E_AStarFlags.Unchecked);
headOfOpenList = Next;
headOfOpenList.Previous = null;
head = front;
openSize--;
}
return(head);
}
public PathFinder(AStarMap map)
{
this.map = map;
}
void Awake()
{
map = GetComponent<AStarMap>();
requestManager = GetComponent<PathRequestManager>();
}