int ManhattenDist(GridNodes nodeA, GridNodes nobeB)
{
int ix = Mathf.Abs(nodeA.gridPosX - nobeB.gridPosX);
int iy = Mathf.Abs(nodeA.gridPosY - nobeB.gridPosY);
return(ix + iy);
}
private bool PopulateGridNodesFromGridPropertiesDictionary(SceneName sceneName, Vector2Int startGridPosition, Vector2Int endGridPosition)
{
// Get grid properties dictionary for the scene
// SceneSave sceneSave;
// if (GridPropertiesManager.Instance.GameObjectSave.sceneData.TryGetValue(sceneName.ToString(), out sceneSave))
// {
// Get Dict grid property details
// if (sceneSave.gridPropertyDetailsDictionary != null)
// {
// Get grid height and width
if (GridPropertiesManager.Instance.GetGridDimensions(sceneName, out Vector2Int gridDimensions, out Vector2Int gridOrigin))
{
// Create nodes grid based on grid properties dictionary
gridNodes = new GridNodes(gridDimensions.x, gridDimensions.y);
gridWidth = gridDimensions.x;
gridHeight = gridDimensions.y;
originX = gridOrigin.x;
originY = gridOrigin.y;
// Create openNodeList
openNodeList = new List <Node>();
// Create closed Node List
closedNodeList = new HashSet <Node>();
}
void gridGen()
{
grid = new GridNodes[gridSizeX, gridSizeY];
Vector3 botLeft = transform.position - Vector3.right * worldSize.x / 2 - Vector3.forward * worldSize.y / 2; //find the bottom left
// Debug.Log(botLeft);
for (int x = 0; x < gridSizeX; x++)
{
for (int y = 0; y < gridSizeY; y++)
{
Vector3 nodeWordlPos = botLeft + Vector3.right * (x * tileDiameter + tileRad) + Vector3.forward * (y * tileDiameter + tileRad); // finding the node tiles world pos
//Debug.Log(nodeWordlPos);
bool Wall = true;
if (Physics.CheckSphere(nodeWordlPos, tileRad, wallMask))
{
Wall = false;
}
grid[x, y] = new GridNodes(Wall, nodeWordlPos, x, y);
// Debug.Log(nodeWordlPos.x);
//Debug.Log(nodeWordlPos.y);
}
}
}
void getFoundPath(GridNodes cStartNode, GridNodes cEndNode)
{
List <GridNodes> foundPath = new List <GridNodes>();
List <Vector3> v3foundPath = new List <Vector3>();
GridNodes current = cEndNode;
while (current != cStartNode)
{
foundPath.Add(current);
v3foundPath.Add(current.pos);
current = current.Parent;
}
foundPath.Reverse();
v3foundPath.Reverse();
grid.foundPath = foundPath;
storedPath = v3foundPath;
}
public List <GridNodes> GetNeighbours(GridNodes node)
{
List <GridNodes> neighbours = new List <GridNodes>();
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
if (x == 0 && y == 0)
{
continue;
}
// Debug.Log(node.gridPosX);
int checkX = node.gridPosX + x;
int checkY = node.gridPosY + y;
if (checkX >= 0 && checkX < gridSizeX && checkY >= 0 && checkY < gridSizeY)
{
neighbours.Add(grid[checkX, checkY]);
}
}
}
return(neighbours);
}
//private void Update()
//{
// pathFind(startPos.position, targetPos.position);
//}
public void pathFind(Vector3 cStartPos, Vector3 cTargetPos)
{
// Debug.Log("happens");
GridNodes startNode = grid.NodeFromWorldPos(cStartPos);
GridNodes targetNode = grid.NodeFromWorldPos(cTargetPos);
List <GridNodes> openList = new List <GridNodes>();
HashSet <GridNodes> closedList = new HashSet <GridNodes>();
openList.Add(startNode);
int counter = 0;
finishedPath = false;
while (openList.Count > 0)
{
GridNodes current = openList[0];
for (int i = 1; i < openList.Count; i++)
{
if (openList[i].FCost < current.FCost || openList[i].FCost == current.FCost && openList[i].distFromEnd < current.distFromEnd)
{
current = openList[i];
//Debug.Log(i);
}
}
counter++;
openList.Remove(current);
closedList.Add(current);
if (current == targetNode)
{
getFoundPath(startNode, targetNode);
finishedPath = true;
//Debug.Log("path found: " + counter);
break;
}
foreach (GridNodes Neighbor in grid.GetNeighbours(current))
{
if (!Neighbor.isObstructed || closedList.Contains(Neighbor))
{
continue;
}
int moveCost = current.distFromStart + ManhattenDist(current, Neighbor);
if (!openList.Contains(Neighbor) || moveCost < Neighbor.FCost)
{
Neighbor.distFromStart = moveCost;
Neighbor.distFromEnd = ManhattenDist(Neighbor, targetNode);
Neighbor.Parent = current;
if (!openList.Contains(Neighbor))
{
openList.Add(Neighbor);
}
}
}
}
}
void Awake()
{
iA = GetComponent <IA>();
grid = GameObject.Find("GridObject").GetComponent <GridNodes>();
path = new List <Vector3>();
}
/// <summary>
/// This method will populate all of the nodes in a tileMap for a given scene, and store within them members from the GridPropertyDetailsDictionary
/// including the bool isNPCObstacle, and isPath properties.
/// </summary>
/// <param name="sceneName"></param>
/// <param name="startGridPosition"></param>
/// <param name="endGridPosition"></param>
/// <returns> populates all of the nodes in the current scene tilemap GridNodes with properties from the GridPropertiesDictionary isPath and isNPCObstacle, and Returns a bool
/// stating if it was successful or not. </returns>
private bool PopulateGridNodesFromGridPropertiesDictionary(SceneName sceneName, Vector2Int startGridPosition, Vector2Int endGridPosition)
{
// Get the grid properties dictionary for the given scene in the SceneSave, where the GridPropertiesDictionary is stored (and saved/loaded)
SceneSave sceneSave;
// Get the SceneData (dictionary of all saved items in that scene) for this scene, if it exists
if (GridPropertiesManager.Instance.GameObjectSave.sceneData.TryGetValue(sceneName.ToString(), out sceneSave))
{
// Get the dict of grid property details stored in the SceneSave, if it exists
if (sceneSave.gridPropertyDetailsDictionary != null)
{
// Get the grid height, width, and origin of the current scene if the sceneName was found in the dictionary
if (GridPropertiesManager.Instance.GetGridDimensions(sceneName, out Vector2Int gridDimensions, out Vector2Int gridOrigin))
{
// Create a GridNodes (list of all nodes in a grid for the current scene) based on the grid properties dictionary just obtained,
// And populate the grid dimensions and origin for AStar
gridNodes = new GridNodes(gridDimensions.x, gridDimensions.y);
gridWidth = gridDimensions.x;
gridHeight = gridDimensions.y;
originX = gridOrigin.x;
originY = gridOrigin.y;
// Create the openNodeList to be used to store nodes to be checked
openNodeList = new List <Node>();
// create the closedNodeList to be used to store already checked nodes
closedNodeList = new HashSet <Node>();
}
// Just return false if we didn't find a dictionary for this scene
else
{
return(false);
}
// Populate the start node, from gridNodes.GetGridNode which returns the node in the GridNode array at that position. Subtract the origins because the origin is different in every scene
// Tile maps have an origin in the CENTER of the map, we subtract the origin so we start at the bottom left as usual
startNode = gridNodes.GetGridNode(startGridPosition.x - gridOrigin.x, startGridPosition.y - gridOrigin.y);
// Populate the target node in the same way
targetNode = gridNodes.GetGridNode(endGridPosition.x - gridOrigin.x, endGridPosition.y - gridOrigin.y);
// Loop through every square in the grid, and populate the obstacle and path info for the each grid square
for (int x = 0; x < gridDimensions.x; x++)
{
for (int y = 0; y < gridDimensions.y; y++)
{
// Get the gridPropertyDetails for the current square we are looking at (this will have members like isDiggable, isPath, isNPCObstacle, etc), adjusted by the origin as well
GridPropertyDetails gridPropertyDetails = GridPropertiesManager.Instance.GetGridPropertyDetails(x + gridOrigin.x, y + gridOrigin.y, sceneSave.gridPropertyDetailsDictionary);
// As long as we found the details for that square, populate the obstacle bool and penalty. If not, just quit out and return false from this method
if (gridPropertyDetails != null)
{
// If the current square is an obstacle, create a node at that grid location (obtained from the gridNodes array GetGridNode at this position),
// and say so in the Node isObstacle member
if (gridPropertyDetails.isNPCObstacle == true)
{
Node node = gridNodes.GetGridNode(x, y);
node.isObstacle = true;
}
if (gridPropertyDetails.seedItemCode == 10000 || gridPropertyDetails.seedItemCode == 10009 ||
gridPropertyDetails.seedItemCode == 10010 || gridPropertyDetails.seedItemCode == 10011 ||
gridPropertyDetails.seedItemCode == 10014 || gridPropertyDetails.seedItemCode == 10016 ||
gridPropertyDetails.seedItemCode == 10022 || gridPropertyDetails.seedItemCode == 10023) // I added this if statement so that things like trees, rocks, etc are considered obstacles for the path finding algorithm to navigate around
{
Node node = gridNodes.GetGridNode(x, y);
node.isObstacle = true;
}
// Else, if the current square is a path, create a node at that grid location (obtained from the gridNodes array GetGridNode at this position),
// and populate it's movement penalty with pathMovementPenalty
else if (gridPropertyDetails.isPath == true)
{
Node node = gridNodes.GetGridNode(x, y);
node.movementPenalty = pathMovementPenalty;
}
// Else, if the current square is not a path or obstacle, create a node at that grid location (obtained from the gridNodes array GetGridNode at this position),
// and populate it's movement penalty with defaultMovementPenalty
else
{
Node node = gridNodes.GetGridNode(x, y);
node.movementPenalty = defaultMovementPenalty;
}
}
}
}
}
else
{
return(false);
}
}
private bool PopulateGridNodesFromGridPropertiesDictionary(SceneName sceneName, Vector2Int startGridPosition, Vector2Int endGridPosition)
{
// Get grid properties dictionary for the scene
SceneSave sceneSave;
if (GridPropertiesManager.Instance.GameObjectSave.sceneData.TryGetValue(sceneName.ToString(), out sceneSave))
{
// Get Dict grid property details
if (sceneSave.gridPropertyDetailsDictionary != null)
{
// Get grid height and width
if (GridPropertiesManager.Instance.GetGridDimensions(sceneName, out Vector2Int gridDimensions, out Vector2Int gridOrigin))
{
// Create nodes grid based on grid properties dictionary
gridNodes = new GridNodes(gridDimensions.x, gridDimensions.y);
gridWidth = gridDimensions.x;
gridHeight = gridDimensions.y;
originX = gridOrigin.x;
originY = gridOrigin.y;
// Create openNodeList
openNodeList = new List <Node>();
// Create closed Node List
closedNodeList = new HashSet <Node>();
}
else
{
return(false);
}
// Populate start node
startNode = gridNodes.GetGridNode(startGridPosition.x - gridOrigin.x, startGridPosition.y - gridOrigin.y);
// Populate target node
targetNode = gridNodes.GetGridNode(endGridPosition.x - gridOrigin.x, endGridPosition.y - gridOrigin.y);
// populate obstacle and path info for grid
for (int x = 0; x < gridDimensions.x; x++)
{
for (int y = 0; y < gridDimensions.y; y++)
{
GridPropertyDetails gridPropertyDetails = GridPropertiesManager.Instance.GetGridPropertyDetails(x + gridOrigin.x, y + gridOrigin.y, sceneSave.gridPropertyDetailsDictionary);
if (gridPropertyDetails != null)
{
// If NPC obstacle
if (gridPropertyDetails.isNPCObstacle == true)
{
Node node = gridNodes.GetGridNode(x, y);
node.isObstacle = true;
}
else if (gridPropertyDetails.isPath == true)
{
Node node = gridNodes.GetGridNode(x, y);
node.movementPenalty = pathMovementPenalty;
}
else
{
Node node = gridNodes.GetGridNode(x, y);
node.movementPenalty = defaultMovementPenalty;
}
}
}
}
}
else
{
return(false);
}
}
