public Grid(int width, int height, float cellSize, Vector3 originPosition, Func <Grid <TGridObject>, int, int, TGridObject> createGridObject)
{
this.width = width;
this.height = height;
this.cellSize = cellSize;
this.originPosition = originPosition;
gridArray = new TGridObject[width, height];
for (int x = 0; x < gridArray.GetLength(0); x++)
{
for (int y = 0; y < gridArray.GetLength(1); y++)
{
gridArray[x, y] = createGridObject(this, x, y);
}
}
bool showDebug = true;
if (showDebug)
{
TextMesh[,] debugTextArray = new TextMesh[width, height];
for (int x = 0; x < gridArray.GetLength(0); x++)
{
for (int y = 0; y < gridArray.GetLength(1); y++)
{
debugTextArray[x, y] = DebugDrawer.CreateWorldText(gridArray[x, y]?.ToString(), null, GetWorldPosition(x, y) - Vector3.one * 0.5f + new Vector3(cellSize, cellSize) * .5f, 20, Color.white, TextAnchor.MiddleCenter);
Debug.DrawLine(GetWorldPosition(x, y) - Vector3.one * 0.5f, GetWorldPosition(x, y + 1) - Vector3.one * 0.5f, Color.white, 100f);
Debug.DrawLine(GetWorldPosition(x, y) - Vector3.one * 0.5f, GetWorldPosition(x + 1, y) - Vector3.one * 0.5f, Color.white, 100f);
}
}
Debug.DrawLine(GetWorldPosition(0, height) - Vector3.one * 0.5f, GetWorldPosition(width, height) - Vector3.one * 0.5f, Color.white, 100f);
Debug.DrawLine(GetWorldPosition(width, 0) - Vector3.one * 0.5f, GetWorldPosition(width, height) - Vector3.one * 0.5f, Color.white, 100f);
}
}
public List <PathNode> FindPath(int startX, int startY, int endX, int endY, bool forced = false)
{
PathNode startNode = grid.GetGridObject(startX, startY);
PathNode endNode = grid.GetGridObject(endX, endY);
var possibleFinalNodes = GetNeighbourList(endNode);
if (possibleFinalNodes == null || possibleFinalNodes.Count == 0)
{
return(null);
}
for (int i = 0; i < possibleFinalNodes.Count; i++)
{
if (!possibleFinalNodes[i].isWalkable)
{
possibleFinalNodes.Remove(possibleFinalNodes[i]);
}
}
if (possibleFinalNodes.Count == 0)
{
return(null);
}
DebugDrawer.DeleteCreateWorldText();
if (startNode == null || endNode == null)
{
// Invalid Path
return(null);
}
openList = new List <PathNode> {
startNode
};
closedList = new List <PathNode>();
for (int x = 0; x < grid.GetWidth(); x++)
{
for (int y = 0; y < grid.GetHeight(); y++)
{
PathNode pathNode = grid.GetGridObject(x, y);
pathNode.gCost = 99999999;
pathNode.CalculateFCost();
pathNode.cameFromNode = null;
}
}
startNode.gCost = 0;
startNode.hCost = CalculateDistanceCost(startNode, endNode);
startNode.CalculateFCost();
while (openList.Count > 0)
{
PathNode currentNode = GetLowestFCostNode(openList);
if (currentNode.Equals(endNode) || possibleFinalNodes.Contains(currentNode))
{
// Reached final node
return(CalculatePath(currentNode));
}
openList.Remove(currentNode);
closedList.Add(currentNode);
foreach (PathNode neighbourNode in GetNeighbourList(currentNode))
{
if (closedList.Contains(neighbourNode))
{
continue;
}
/* Code for optimizing pathfinding with multiblocks;
* if (neighbourNode.structure is IMultipleNodesStructure) //Adding all other occupied nodes from the multiblock to the closedlist;
* {
* List<PathNode> disposableNodes = (neighbourNode.structure as IMultipleNodesStructure).getPathNodeList();
* foreach (var node in disposableNodes)
* {
* closedList.Add(node);
* }
* }
*/
if (!neighbourNode.isWalkable && !forced)
{
closedList.Add(neighbourNode);
continue;
}
int tentativeGCost = currentNode.gCost + CalculateDistanceCost(currentNode, neighbourNode);
if (tentativeGCost < neighbourNode.gCost)
{
neighbourNode.cameFromNode = currentNode;
neighbourNode.gCost = tentativeGCost;
neighbourNode.hCost = CalculateDistanceCost(neighbourNode, endNode);
neighbourNode.CalculateFCost();
DebugDrawer.CreateWorldText(neighbourNode.hCost.ToString(), null,
grid.GetWorldPosition(neighbourNode.x, neighbourNode.y) - Vector3.one * 0.2f +
new Vector3(grid.GetCellSize(), grid.GetCellSize()) * .5f, 20,
neighbourNode.isWalkable ? Color.white : Color.red,
TextAnchor.MiddleCenter);
if (!openList.Contains(neighbourNode))
{
openList.Add(neighbourNode);
}
}
//PathfindingDebugStepVisual.Instance.TakeSnapshot(grid, currentNode, openList, closedList);
}
}
// Out of nodes on the openList
return(null);
}
