public void FindPath(PathRequest request, Action <PathResult> callback)
{
Stopwatch sw = new Stopwatch(); //check how long the method takes
sw.Start();
Vector3[] waypoints = new Vector3[0]; //contains the path
bool pathSuccess = false; //if path could be found
Node startNode = grid.NodeFromWorldPoint(request.pathStart); //get start and end in node
Node targetNode = grid.NodeFromWorldPoint(request.pathEnd);
Heap <Node> openSet = new Heap <Node>(grid.MaxSize); //create heap for all nodes that can be moved to
HashSet <Node> closedSet = new HashSet <Node>(); //hash set for all nodes that can't be moved to
openSet.Add(startNode); //add the startnode for a starting point
if (startNode.walkable && targetNode.walkable)
{
while (openSet.Count > 0) //only breaks if target node is unreacheble
{
Node currentNode = openSet.RemoveFirst(); //set current node to the first one in openSet and remove it from the openset
closedSet.Add(currentNode); //so you can't move to current node again
if (currentNode == targetNode) //if goal is reached
{
sw.Stop();
print("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode)) //if an open neighbour to the current node gets a lower gcost from using currents path (patrents), current is the neighbours parent
{
if (!neighbour.walkable || closedSet.Contains(neighbour)) //if neighbour is not walkable or on the closed set skip it
{
continue;
}
int movenCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty; //the cost for moving to the neighbour
if (movenCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour)) //if the new cost is lower than the old or neighbour has not yet been added to openset
{
neighbour.gCost = movenCostToNeighbour; //set g cost
neighbour.hCost = GetDistance(neighbour, targetNode); //set h cost
neighbour.parent = currentNode; //set parent to backtrack to start from goal
if (!openSet.Contains(neighbour)) //if node was not in openset, add it
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour); //else, just update heap
}
}
}
}
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode); //if path was found, save it in the array
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback)); //tell request manager that the path is found
//UnityEngine.Debug.Log(GC.GetTotalMemory(true) + " Bytes");
}
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = grid.NodeFromWorldPoint(startPos);
Node targetNode = grid.NodeFromWorldPoint(targetPos);
Heap <Node> openSet = new Heap <Node>(grid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
if (startNode.walkable && targetNode.walkable)
{
while (openSet.Count > 0) //only breaks if target node is unreacheble
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode) //if goal is reached
{
sw.Stop();
print("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode)) //if open neighbour to current gets a lower gcost from using currents path(patrents), current is the neighbours parent, basically starts here
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int movenCostToNeighbour = currentNode.gCost + getDistance(currentNode, neighbour);
if (movenCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = movenCostToNeighbour;
neighbour.hCost = getDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requsetManager.FinishedProcessingPath(waypoints, pathSuccess);
}
IEnumerator FollowPath() //basiclly same as Update but can be started and stoped. for moving to target along path
{
bool grounded = false;
Vector3 lastPos = transform.position;
bool followingPath = true;
int pathIndex = 0;
//transform.LookAt(path.lookpoints[0]); //face first waypoint
float speedPercent = 1;
while (followingPath)
{
Vector2 pos2D = new Vector2(transform.position.x, transform.position.z);
while (path.turnBoundaries[pathIndex].HasCrossedLine(pos2D))
{
if (pathIndex == path.finishLineIndex)
{
followingPath = false;
//FindNextPath();
break;
}
else
{
pathIndex++;
}
}
if (followingPath)
{
speedPercent = 1;
if (pathIndex >= path.slowDownIndex && stoppingDst > 0 && slowDown)
{
speedPercent = Mathf.Clamp01(path.turnBoundaries[path.finishLineIndex /*- 1*/].DistanceFromPoint(pos2D) / stoppingDst + 0.2f); //add to avoid stopping compleatly
}
Quaternion targetRotation = Quaternion.LookRotation(path.lookpoints[pathIndex] - transform.position);
transform.rotation = Quaternion.Lerp(transform.rotation, targetRotation, Time.deltaTime * turnSpeed);
transform.rotation = new Quaternion(0, transform.rotation.y, 0, transform.rotation.w);
transform.Translate(Vector3.forward * Time.deltaTime * speed, Space.Self);
frontCheck = new Ray(transform.position + Vector3.up / 3, transform.forward + Vector3.up * maxJumpHeight / 2);
topCheck = new Ray(transform.position + Vector3.up * maxJumpHeight, transform.forward);
groundCheck = new Ray(transform.position + Vector3.up / 2, Vector3.down);
RaycastHit obstacle;
timeSinceJump += Time.deltaTime;
grounded = Physics.Raycast(groundCheck, 1); //check if AI is standing on ground
if (Physics.Raycast(frontCheck.origin, frontCheck.direction, out obstacle, 4, grid.walkableMask.value, QueryTriggerInteraction.Ignore)) //something is in the way
{
if (!Physics.Raycast(topCheck, 5)) //check that the obstacle can be jumped over
{
if (grounded) //if AI is standing on the ground
{
if (timeSinceJump > 1) //this is to prevent the AI from jumping more than once per second
{
rb.velocity = new Vector3(rb.velocity.x, Mathf.Sqrt(maxJumpHeight * Physics.gravity.magnitude * 2), rb.velocity.z);
//rb.AddForce(Vector3.up * Mathf.Sqrt(maxJumpHeight * Physics.gravity.magnitude * 2), ForceMode.Impulse);
timeSinceJump = 0;
}
}
}
else
{
grid.NodeFromWorldPoint(obstacle.point).walkable = false; //tried jumping, didnt work. set this to unwalkable
}
}
if (slowDown)
{
transform.Translate(Vector3.forward * Time.deltaTime * speed * speedPercent, Space.Self);
}
}
yield return(null); //wait one frame
}
//Vector3.MoveTowards(transform.position, target.position, Time.deltaTime * speed);
//yield return null; //wait one frame
}
