public void Navigate(ShipRuntime targetShip, Vector2Int globalStartPos, Vector2Int globalEndPos)
{
Init();
this.targetShip = targetShip;
if (globalStartPos == globalEndPos)
{
StartCoroutine("DelaySearch");
return;
}
nextIndex = 1;
CellTemplate startCell = targetShip.GetCellByGlobalPos(globalStartPos);
CellTemplate endCell = targetShip.GetCellByGlobalPos(globalEndPos);
// Invalid path supplied
if (startCell == null || endCell == null || startCell.CellState == 0 || endCell.CellState == 0)
{
return;
}
ShipPiece startPiece = targetShip.GetPieceByGlobalCellPos(globalStartPos);
ShipPiece endPiece = targetShip.GetPieceByGlobalCellPos(globalEndPos);
NavGrid startGrid = new NavGrid(startPiece);
startGrid.Generate();
NavGrid goalGrid = startGrid;
if (startPiece != endPiece)
{
goalGrid = new NavGrid(endPiece);
goalGrid.Generate();
}
AStarAlgorithm aStarAlgorithm = new AStarAlgorithm(startGrid, goalGrid, globalStartPos, globalEndPos);
int newTTmp = 0;
curPath = aStarAlgorithm.AStarSearch(ref newTTmp);
wiggleTimer = Random.Range(0, 6.28318f);
}
public bool Navigate(ShipRuntime targetShip, Vector2Int globalStartPos, Vector2Int globalEndPos)
{
if (globalStartPos == globalEndPos)
{
return(false);
}
NavCell[] overrideStart = null;
// Cur, prev and T evaluation
if (curPath != null)
{
if (nextIndex < curPath.Length)
{
overrideStart = new NavCell[2];
// Store C0 and C1
overrideStart[0] = curPath[nextIndex - 1];
overrideStart[1] = curPath[nextIndex];
}
}
nextIndex = 1;
CellTemplate startCell = targetShip.GetCellByGlobalPos(globalStartPos);
CellTemplate endCell = targetShip.GetCellByGlobalPos(globalEndPos);
// Invalid path supplied
if (startCell == null || endCell == null || startCell.CellState == 0 || endCell.CellState == 0)
{
return(false);
}
ShipPiece startPiece = targetShip.GetPieceByGlobalCellPos(globalStartPos);
ShipPiece endPiece = targetShip.GetPieceByGlobalCellPos(globalEndPos);
NavGrid startGrid = new NavGrid(startPiece);
startGrid.Generate();
NavGrid goalGrid = startGrid;
if (startPiece != endPiece)
{
goalGrid = new NavGrid(endPiece);
goalGrid.Generate();
}
AStarAlgorithm aStarAlgorithm = new AStarAlgorithm(startGrid, goalGrid, globalStartPos, globalEndPos);
int newTState = -1;
curPath = aStarAlgorithm.AStarSearch(ref newTState, overrideStart);
// Either reset, invert or leave move timer
switch (newTState)
{
case -1:
moveTimer = 0;
break;
case 1:
moveTimer = 1 - moveTimer;
break;
}
pathTracer.SetPositions(GetNavArray());
return(curPath != null);
}
public NavCell[] AStarSearch(ref int newTState, NavCell[] overrideStart = null)
{
openList.Clear();
closedList.Clear();
var startCell = grids[0].FindCellByPosition(start);
var goalCell = grids[grids.Count - 1].FindCellByPosition(goal);
startCell.heuristic = (goal - startCell.position).magnitude;
openList.Add(startCell);
int itterations = 0;
while (openList.Count > 0)
{
itterations++;
var bestCell = GetBestCell();
openList.Remove(bestCell);
var neighbours = bestCell.OwningGrid.GetMooreNeighbours(bestCell);
for (int i = 0; i < 4; i++)
{
var curCell = neighbours[i];
if (curCell == null)
{
bool connectionMade = false;
if (bestCell.Cell.HasConnections)
{
Vector2Int compareDir = new Vector2Int(0, 1);
switch (i)
{
case 1:
compareDir = new Vector2Int(1, 0);
break;
case 2:
compareDir = new Vector2Int(0, -1);
break;
case 3:
compareDir = new Vector2Int(-1, 0);
break;
}
// Collect new neighbours
ShipConnection connection = bestCell.Cell.OwningPiece.GetConnectionByCellPos(bestCell.position, compareDir);
if (connection != null)
{
connectionMade = true;
// Attempt to locate existing grid
NavGrid connectedGrid = null;
foreach (NavGrid grid in grids)
{
if (connection.OtherPiece == grid.PieceCreatedFrom)
{
connectedGrid = grid;
break;
}
}
// Else Generate new grid from piece
if (connectedGrid == null)
{
connectedGrid = new NavGrid(connection.OtherPiece);
connectedGrid.Generate();
grids.Add(connectedGrid);
}
// Assign the cell on the other grid as the cur cell and continue pathfinding as normal
curCell = connectedGrid.FindCellByPosition(connection.OtherCell + connection.OtherPiece.Position);
}
}
if (!connectionMade)
{
continue;
}
}
if (curCell == goalCell)
{
curCell.parent = bestCell;
return(ConstructPath(curCell, ref newTState, overrideStart));
}
// Cell / Wall state logic
if (curCell.Cell.CellState == 0) // Cell state is 0 (piece does not contain this cell as walkable area).
{
// Add to closed and continue
if (!closedList.Contains(curCell))
{
closedList.Add(curCell);
}
continue;
}
var g = bestCell.cost + (curCell.position - bestCell.position).magnitude;
var h = (goal - curCell.position).magnitude;
if (openList.Contains(curCell) && curCell.f < (g + h))
{
continue;
}
if (closedList.Contains(curCell) && curCell.f < (g + h))
{
continue;
}
curCell.cost = g;
curCell.heuristic = h;
curCell.parent = bestCell;
if (!openList.Contains(curCell))
{
openList.Add(curCell);
}
}
if (!closedList.Contains(bestCell))
{
closedList.Add(bestCell);
}
if (itterations > 10000)
{
Debug.Log("MAX ITTERATIONS REACHED, NOT GOOD");
break;
}
}
return(null);
}