public void prepareAI()
{
restoreMoves();
carPos = new Vector2Int((int)carScript.transform.position.x, (int)carScript.transform.position.y);
lowestTotalCost = -1;
Stopwatch s = new Stopwatch();
s.Start();
for (int i = 0; i < tileScript.FinishTile.GetLength(0); i++)
{
Vector2Int targetPosition = tileScript.FinishTile[i];
TileForList startTile = new TileForList(carPos, 0, calculateDistanceToTarget(carPos, targetPosition), carScript.CurrentSpeed, null, "Start Tile", targetPosition);
if (debugMode)
{
print(startTile.ToString());
}
openlist.Clear();
closedlist.Clear();
openlist.Add(startTile);
findOptimalPath();
}
isOutOfPosition = false;
s.Stop();
Debug.Log("prepareAI time taken" + s.Elapsed.TotalSeconds);
}
private void createPath(TileForList finishTile)
{
Debug.Log("createPath");
int sentinel = 500;
optimalSolution.Push(finishTile);
if (debugMode)
{
print("Optimal Path");
print(finishTile.ToString());
}
TileForList previousTile = finishTile.previousTile;
previousTile.thisAction = finishTile.previousAction;
while (previousTile != null)
{
sentinel--;
optimalSolution.Push(previousTile);
if (debugMode)
{
print(previousTile.ToString());
}
TileForList nextPreviousTile;
nextPreviousTile = previousTile.previousTile;
if (nextPreviousTile != null)
{
nextPreviousTile.thisAction = previousTile.previousAction;
}
previousTile = nextPreviousTile;
}
if (debugMode)
{
print("End Optimal Path");
}
}
public void nextCarAction()
{
if (debugMode)
{
print("NextCarAction");
}
TileForList nextMove = getNextMove();
Debug.Log(nextMove.ToString());
string nextAction = nextMove.thisAction;
if (nextAction.Equals("Finish"))
{
if (debugMode)
{
print("Car has finished");
}
haveFinished = true;
}
else if (nextAction.Equals("Accelerate"))
{
if (debugMode)
{
print("AccelerateCar");
}
carScript.accelerate();
}
else if (nextAction.Equals("Deaccelerate"))
{
if (debugMode)
{
print("DeaccelerateCar");
}
carScript.deaccelerate();
}
else if (nextAction.Equals("Do Nothing"))
{
if (debugMode)
{
print("Do No action with car");
}
carScript.doNothing();
}
else if (nextAction.Equals("Move Up"))
{
if (debugMode)
{
print("Move car up");
}
carScript.moveUp();
}
else if (nextAction.Equals("Move Down"))
{
if (debugMode)
{
print("Move car down");
}
carScript.moveDown();
}
else
{
if (debugMode)
{
print("AI could not find an action with this name: " + nextAction);
}
}
if (debugMode)
{
print("End NextCarAction");
}
}
private void findOptimalPath()
{
int sentinel = 5000;
while (0 < openlist.Count)
{
//Debug.Log("sentinel: " + sentinel);
//sentinel--;
TileForList currentTile = openlist[0];
openlist.RemoveAt(0);
closedlist.Add(new TileForClosedList(currentTile));
if (debugMode)
{
print("currentTile: " + currentTile.ToString());
}
if (currentTile.targetPosition.x < currentTile.position.x)
{
continue;
}
if (currentTile.targetPosition.x == currentTile.position.x && currentTile.position.y == currentTile.targetPosition.y)
{
if (currentTile.tileTotalCost < lowestTotalCost || lowestTotalCost == -1)
{
optimalSolution.Clear();
lowestTotalCost = currentTile.tileTotalCost;
Debug.Log("lowestTotalCost: " + lowestTotalCost);
currentTile.thisAction = "Finish";
createPath(currentTile);
}
break;
}
if (createDebugTiles)
{
Instantiate(debugTile, new Vector3(currentTile.position.x, currentTile.position.y, -1), Quaternion.identity);
}
if (canAccelerate(currentTile.speed, currentTile.position))
{
int nextSpeed = currentTile.speed;
nextSpeed++;
int[] makeMovesArray = makeMoves(nextSpeed, currentTile, 0);
nextSpeed = makeMovesArray[0];
int nextXPosition = makeMovesArray[1];
int nextYPosition = currentTile.position.y;
addToOpenList(new Vector2Int(nextXPosition, nextYPosition), currentTile.tileCost + 1, nextSpeed, currentTile, "Accelerate");
}
if (canDeaccelerate(currentTile.speed, currentTile.position))
{
int nextSpeed = currentTile.speed;
nextSpeed--;
int[] makeMovesArray = makeMoves(nextSpeed, currentTile, 0);
nextSpeed = makeMovesArray[0];
int nextXPosition = makeMovesArray[1];
int nextYPosition = currentTile.position.y;
addToOpenList(new Vector2Int(nextXPosition, nextYPosition), currentTile.tileCost + 1, nextSpeed, currentTile, "Deaccelerate");
}
if (canDoNothing(currentTile.speed, currentTile.position))
{
int nextSpeed = currentTile.speed;
int[] makeMovesArray = makeMoves(nextSpeed, currentTile, 0);
nextSpeed = makeMovesArray[0];
int nextXPosition = makeMovesArray[1];
int nextYPosition = currentTile.position.y;
addToOpenList(new Vector2Int(nextXPosition, nextYPosition), currentTile.tileCost + 1, nextSpeed, currentTile, "Do Nothing");
}
if (canMoveUp(currentTile.speed, currentTile))
{
int nextSpeed = currentTile.speed;
int[] makeMovesArray = makeMoves(nextSpeed, currentTile, +1);
nextSpeed = makeMovesArray[0];
int nextXPosition = makeMovesArray[1];
int nextYPosition = currentTile.position.y + 1;
addToOpenList(new Vector2Int(nextXPosition, nextYPosition), currentTile.tileCost + 1, nextSpeed, currentTile, "Move Up");
}
if (canMoveDown(currentTile.speed, currentTile))
{
int nextSpeed = currentTile.speed;
int[] makeMovesArray = makeMoves(nextSpeed, currentTile, -1);
nextSpeed = makeMovesArray[0];
int nextXPosition = makeMovesArray[1];
int nextYPosition = currentTile.position.y - 1;
addToOpenList(new Vector2Int(nextXPosition, nextYPosition), currentTile.tileCost + 1, nextSpeed, currentTile, "Move Down");
}
// for (int i = -1; i < 2; i++) {
// int xOffset = i;
// if (currentTile.position.x + xOffset < 0 ||
// currentTile.position.x + xOffset >= tileScript.TileArray.GetLength (0)) {
// continue;
// }
// for (int j = -1; j < 2; j++) {
// int yOffset = j;
// if (currentTile.position.y + yOffset < 0 ||
// currentTile.position.y + yOffset >= tileScript.TileArray.GetLength (1)) {
// continue;
// }
//
// }
// }
openlist.Sort((a, b) => a.tileTotalCost.CompareTo(b.tileTotalCost));
}
if (openlist.Count == 0)
{
Debug.Log("Openlist is empty");
}
if (sentinel == 0)
{
Debug.Log("sentinel reached zero, openlist count: " + openlist.Count);
}
}