//TEMP DEBUG
void drawGrid(SqaureGrid grid, AStar astar, LinkedList <Location> route)
{
for (var y = 0; y <= width; y++)
{
for (var x = 0; x <= height; x++)
{
Location currentLocation = new Location(x, y);
Location locationPtr = currentLocation;
if (!astar.cameFrom.TryGetValue(currentLocation, out locationPtr))
{
locationPtr = currentLocation;
}
//show path
if (route.Contains(currentLocation))
{
Transform wallPart = (Transform)Instantiate(pathNode, new Vector3(x, 0, y), Quaternion.identity);
wallPart.parent = this.transform.parent;
}
else if (grid.walls.Contains(currentLocation))
{
//show wall at current pos
//Transform wallPart = (Transform)Instantiate(wallNode, new Vector3(x, 0, y), Quaternion.identity);
//wallPart.parent = this.transform.parent;
}
}
}
}
public EnemyState(Enemy_Controller enemyController)
{
enemy = enemyController;
grid = GameObject.FindGameObjectWithTag(Tags.World).GetComponent <World>().grid;
player = GameObject.FindGameObjectWithTag(Tags.Player);
route = new LinkedList <Location>();
}
public LinkedList <Location> optimiseRoute(SqaureGrid grid, AStar astar, LinkedList <Location> path)
{
LinkedList <Location> optimisedPath = new LinkedList <Location>();
LinkedListNode <Location> currentNode = path.First;
bool isNodeRemoved = true;
while (currentNode != path.Last)
{
LinkedListNode <Location> nextNode = currentNode.Next;
if (nextNode != null)
{
if (!grid.forests.Contains(currentNode.Value) && isInLineOfSight(currentNode.Value, nextNode.Value))
{
path.Remove(nextNode);
Debug.Log("REMOVING NODE");
isNodeRemoved = true;
}
if (!isNodeRemoved)
{
currentNode = currentNode.Next;
isNodeRemoved = false;
}
}
else
{
break;
}
}
return(optimisedPath);
}
void Start()
{
drawBorder();
grid = new SqaureGrid(width, height);
assembleForests(grid);
assembleWalls(grid);
assembleRoads(grid);
}
void assembleRoads(SqaureGrid grid)
{
foreach (Vector2 road in roads)
{
Location currentLocation = new Location((int)road.x, (int)road.y);
if (!grid.walls.Contains(currentLocation))
{
grid.roads.Add(new Location((int)road.x, (int)road.y));
}
}
}
void assembleForests(SqaureGrid grid)
{
foreach (Vector2 forest in forests)
{
Location currentLocation = new Location((int)forest.x, (int)forest.y);
if (!grid.walls.Contains(currentLocation))
{
grid.forests.Add(new Location((int)forest.x, (int)forest.y));
}
}
}
// Use this for initialization
void Start ()
{
var grid = new SqaureGrid(width, height);
assembleWalls(grid);
assembleRoads(grid);
assembleForests(grid);
//randomise start and destination
if (randomGen)
{
bool isGenerated = false;
int randStartX = (int)startVec.x;
int randStartY = (int)startVec.y;
while (!isGenerated)
{
if (!isSeamless)
{
randStartX = Random.Range(0, width);
randStartY = Random.Range(0, height);
}
int randDestX = Random.Range(1, width);
int randDestY = Random.Range(1, height);
if(!grid.walls.Contains(new Location(randStartX, randStartY)) && !grid.walls.Contains(new Location(randDestX, randDestY)))
{
startVec = new Vector2(randStartX, randStartY);
destinationVec = new Vector2(randDestX, randDestY);
isGenerated = true;
}
}
}
//set locations
Location start = new Location((int)startVec.x, (int)startVec.y);
Location destination = new Location((int)destinationVec.x, (int)destinationVec.y);
transform.position = new Vector3(startVec.x, transform.position.y, startVec.y);
var astar = new AStar(grid, start, destination);
route = generatePath(grid, astar, destination, start);
drawBorder();
drawGrid(grid, astar, route);
routePos = route.First;
distance = 1.2f;
//set first person camera in active
fpCamera = this.transform.FindChild("Camera").GetComponent<Camera>();
fpCamera.gameObject.SetActive(false);
//set movement slider
movementSlider = GameObject.FindGameObjectWithTag("movementSlider").GetComponent<Slider>();
isDone = false;
}
public LinkedList <Location> createRoute(SqaureGrid grid, AStar astar, Location start, Location destination)
{
LinkedList <Location> path = new LinkedList <Location>();
Location current = destination;
path.AddFirst(current);
while (!current.Equals(start))
{
current = astar.cameFrom[current];
path.AddFirst(current);
}
return(path);
}
public AStar(SqaureGrid grid, Location startPos, Location destination)
{
//Debug.Log("START A STAR");
//setup variables
PriorityQueue <int, Location> frontier = new PriorityQueue <int, Location>();
frontier.Enqueue(startPos, 0);
cameFrom[startPos] = startPos;
costSoFar[startPos] = 0;
//main loop
//while frontier is not empty
//Debug.Log("START A STAR LOOP");
while (frontier.count > 0)
{
//get first Node in queue
Location current = frontier.Dequeue();
//check if current Node is the Destination Node
if (current.Equals(destination))
{
Debug.Log("A*: DONE");
break;//Destination reached stop searching
}
foreach (var next in grid.Neighbours(current))
{
// calculate cost to neighbour
int newCost = costSoFar[current] + grid.cost(current, next);
// if its cheaper to get here from this node than previous routes or
// we haven't checked this neighbour
if (!costSoFar.ContainsKey(next) || newCost < costSoFar[next])
{
//update costSoFar
costSoFar[next] = newCost;
//calculate priority
int priority = distCalc(next, destination) + newCost;
//add to frontier
frontier.Enqueue(next, priority);
//sent current node as the previous node
//allows us to work our way back through cameFrom to find the route
cameFrom[next] = current;
}
}
}
}
// Use this for initialization
void Start()
{
status = 0;
player = GameObject.FindGameObjectWithTag(Tags.Player);
world = GameObject.FindGameObjectWithTag(Tags.World);
grid = GameObject.FindGameObjectWithTag(Tags.World).GetComponent <World>().grid;
width = world.GetComponent <World>().width;
height = world.GetComponent <World>().height;
isDone = false;
weaponRange = 8;
damage = 10;
/*
* if (task == 0)
* {
* patrol(patrolStart, patrolEnd);
* }*/
//set states
currentState = new EnemyState(this);
chaseState = new ChaseState(this);
attackState = new AttackState(this);
fleeState = new FleeState(this);
patrolState = new PatrolState(this);
guardState = new GuardState(this);
searchState = new SearchState(this);
if (patrolPoints.Length == 0)
{
guardPosition = new Vector3(Mathf.FloorToInt(transform.position.x), 0, Mathf.FloorToInt(transform.position.z));
guardRotation = this.transform.rotation;
currentState = guardState;
}
else
{
currentState = patrolState;
}
}
void assembleWalls(SqaureGrid grid)
{
foreach (Vector2 wall in walls)
{
grid.walls.Add(new Location((int)wall.x, (int)wall.y));
}
GameObject[] worldWalls = GameObject.FindGameObjectsWithTag(Tags.Wall);
foreach (GameObject wall in worldWalls)
{
int newX, newZ;
newX = Mathf.FloorToInt(wall.transform.position.x);
newZ = Mathf.FloorToInt(wall.transform.position.z);
Location newWallPos = new Location(newX, newZ);
grid.walls.Add(newWallPos);
if (wall.name == "Cover")
{
Debug.Log("COVER POS: " + wall.transform.position);
}
}
}
void drawGrid(SqaureGrid grid, AStar astar, LinkedList<Location> route)
{
string gridString = "";
for (var y = 0; y <= 10; y++)
{
for (var x = 0; x <= 10; x++)
{
Location currentLocation = new Location(x, y);
Location locationPtr = currentLocation;
if (!astar.cameFrom.TryGetValue(currentLocation, out locationPtr))
{
locationPtr = currentLocation;
}
if (grid.forests.Contains(currentLocation))
{
//show forest at current pos
Transform wallPart = (Transform)Instantiate(forestNode, new Vector3(x, 0, y), Quaternion.identity);
wallPart.parent = this.transform.parent;
gridString += "FF";
}
if (grid.roads.Contains(currentLocation))
{
//show road at current pos
Transform wallPart = (Transform)Instantiate(roadNode, new Vector3(x, 0, y), Quaternion.identity);
wallPart.parent = this.transform.parent;
gridString += "# ";
}
//show path
if (route.Contains(currentLocation))
{
Transform wallPart = (Transform)Instantiate(pathNode, new Vector3(x, 0, y), Quaternion.identity);
wallPart.parent = this.transform.parent;
gridString += "x ";
}
else if (grid.walls.Contains(currentLocation))
{
//show wall at current pos
Transform wallPart = (Transform) Instantiate(wallNode, new Vector3(x, 0, y), Quaternion.identity);
wallPart.parent = this.transform.parent;
gridString += "# ";
}
else if(astar.cameFrom.ContainsValue(currentLocation))
{
Transform wallPart = (Transform)Instantiate(visitedNode, new Vector3(x, 0, y), Quaternion.identity);
wallPart.parent = this.transform.parent;
}
else
{
gridString += "* ";
}
}
gridString += "\n";
}
Debug.Log(gridString);
}
public HostageState(HostageController hostageController)
{
hostage = hostageController;
grid = GameObject.FindGameObjectWithTag(Tags.World).GetComponent <World>().grid;
player = GameObject.FindGameObjectWithTag(Tags.Player);
}
void assembleWalls(SqaureGrid grid)
{
foreach(Vector2 wall in walls)
{
grid.walls.Add(new Location((int)wall.x, (int)wall.y));
}
}
LinkedList<Location> generatePath(SqaureGrid grid, AStar astar, Location destination, Location start)
{
LinkedList<Location> newRoute = new LinkedList<Location>();
//Positions
Location current = destination;
newRoute.AddFirst(current);
while(!current.Equals(start))
{
current = astar.cameFrom[current];
newRoute.AddFirst(current);
}
//DEBUG
//Print Route
/*
Debug.Log("ROUTE: COUNT: "+route.Count);
LinkedListNode<Location> routeNode = route.First;
for (int i = 0; i < route.Count; i++)
{
Debug.Log("X: " + routeNode.Value.x + " Y: " + routeNode.Value.y);
routeNode = routeNode.Next;
}
*/
return newRoute;
}
void assembleForests(SqaureGrid grid)
{
foreach (Vector2 forest in forests)
{
Location currentLocation = new Location((int)forest.x, (int)forest.y);
if (!grid.walls.Contains(currentLocation))
{
grid.forests.Add(new Location((int)forest.x, (int)forest.y));
}
}
}
void assembleRoads(SqaureGrid grid)
{
foreach (Vector2 road in roads)
{
Location currentLocation = new Location((int)road.x, (int)road.y);
if (!grid.walls.Contains(currentLocation))
{
grid.roads.Add(new Location((int)road.x, (int)road.y));
}
}
}
