public void StartAlgorithmBFS()
{
BreadthFirstSearch algo = new BreadthFirstSearch();
algo.StartAlgorithm(map.GetStartPoint(), map.GetEndPoint());
Visualize(algo.GetPath(), algo.GetAlgoSteps());
}
public override Command Act(Actor me, GameState gameState)
{
var bfs = new BreadthFirstSearch(gameState.CurrentMap.GetPassabilityGrid());
var path = bfs.GetPath(me.Position, startToEnd ? end : start);
if (path.Count == 0)
{
startToEnd = !startToEnd;
return(new WaitCommand(me));
}
return(new MoveCommand(me, (path[0] - me.Position).DirectionFromVector()));
}
private List <Coord> GetPath(Coord A, Coord B, MapGrid mapGrid, bool isVisualize)
{
switch (AppConfig.searchAlgorithm)
{
case Algorithm.DFS: return(DepthFirstSearch.GetPath(A, B, mapGrid, isVisualize));
case Algorithm.BFS: return(BreadthFirstSearch.GetPath(A, B, mapGrid, isVisualize));
case Algorithm.Dijkstra: return(DijkstraSearch.GetPath(A, B, mapGrid, isVisualize));
case Algorithm.AStar: return(AStarSearch.GetPath(A, B, mapGrid, isVisualize));
default: return(AStarSearch.GetPath(A, B, mapGrid, isVisualize));
}
}
// Use this for initialization
void Start()
{
player = GameObject.FindGameObjectWithTag("body");
destination = patrolRoute [patrolIndex].transform.position;
pathToDestination = BreadthFirstSearch.GetPath(
new Vector2(bottomLeft.transform.position.x, bottomLeft.transform.position.y),
new Vector2(topRight.transform.position.x, topRight.transform.position.y),
transform.position,
destination);
rb = gameObject.GetComponent <Rigidbody2D> ();
animator = GetComponentInChildren <Animator> ();
speaker = gameObject.GetComponent <AudioSource> ();
}
public Unit Execute(Unit unit, object parameters)
{
// find closest non-visible cell
Dictionary <Point2, Point2> cameFrom = BreadthFirstSearch.CalculateCameFrom(unit.Location, Globals.Instance.GameWorld);
Point2 closest = FindClosestNonVisibleCell(cameFrom);
if (closest != Point2.Null)
{
Point2[] path = BreadthFirstSearch.GetPath(unit.Location, closest, cameFrom);
// move towards there
if (path.Length > 0)
{
//return path[0];
}
}
return(unit);
}
// Update is called once per frame
void Update()
{
LayerMask playerAndWalls = LayerMask.GetMask("Player", "Unpassable");
if (
Physics2D.Linecast(transform.position + 0.4f * transform.up, destination, LayerMask.GetMask("Unpassable")) ||
Physics2D.Linecast(transform.position - 0.4f * transform.up, destination, LayerMask.GetMask("Unpassable")) ||
Physics2D.Linecast(transform.position + 0.4f * transform.right, destination, LayerMask.GetMask("Unpassable")) ||
Physics2D.Linecast(transform.position - 0.4f * transform.right, destination, LayerMask.GetMask("Unpassable")))
{
pathToDestination = BreadthFirstSearch.GetPath(
new Vector2(bottomLeft.transform.position.x, bottomLeft.transform.position.y),
new Vector2(topRight.transform.position.x, topRight.transform.position.y),
transform.position,
destination);
}
else
{
pathToDestination = new Vector2[] { transform.position, destination };
}
DrawPath(pathToDestination);
Debug.DrawRay(transform.position, transform.right, Color.cyan, 0f, false);
Debug.DrawRay(transform.position, Quaternion.AngleAxis(sightAngle, Vector3.forward) * transform.right * sightRange, Color.magenta, 0f, false);
Debug.DrawRay(transform.position, Quaternion.AngleAxis(-sightAngle, Vector3.forward) * transform.right * sightRange, Color.magenta, 0f, false);
Vector2 playerVector = player.transform.position - transform.position;
RaycastHit2D playerCast = Physics2D.Raycast(transform.position, playerVector.normalized, sightRange, playerAndWalls);
if (Vector2.Angle(transform.right, playerVector) < sightAngle)
{
if (playerCast.collider == null)
{
Debug.DrawRay(transform.position, playerVector.normalized * sightRange, Color.red, 0f, false);
//destination = patrolRoute [patrolIndex];
if (((Vector2)transform.position - destination).sqrMagnitude < 0.25f)
{
patrolIndex = (patrolIndex + 1) % patrolRoute.Length;
destination = patrolRoute [patrolIndex].transform.position;
}
}
else if (playerCast.collider.gameObject == player)
{
if (destination != lastKnownLocation)
{
speaker.PlayOneShot(alertSound);
}
Debug.DrawLine(transform.position, playerCast.point, Color.green, 0f, false);
lastKnownLocation = player.transform.position;
destination = lastKnownLocation;
}
else
{
Debug.DrawLine(transform.position, playerCast.point, Color.red, 0f, false);
//destination = patrolRoute [patrolIndex];
if (((Vector2)transform.position - destination).sqrMagnitude < 0.25f)
{
patrolIndex = (patrolIndex + 1) % patrolRoute.Length;
destination = patrolRoute [patrolIndex].transform.position;
}
}
}
else
{
if (((Vector2)transform.position - destination).sqrMagnitude < 0.25f)
{
patrolIndex = (patrolIndex + 1) % patrolRoute.Length;
destination = patrolRoute [patrolIndex].transform.position;
}
}
Debug.DrawLine(transform.position, destination, Color.white);
if (Vector3.Distance(transform.position, player.transform.position) < 0.7f)
{
//got too close, catch the player
Application.LoadLevel("EndScene");
}
}
