public List<Node> Compute(int startX, int startY, int endX, int endY, int attemps, float stepSize, float playerMaxHp, float playerSpeed, float playerDps, Cell[][][] matrix, bool smooth = false)
{
// Initialization
tree = new KDTree (3);
deathPaths = new List<List<Node>> ();
nodeMatrix = matrix;
//Start and ending node
Node start = GetNode (0, startX, startY);
start.visited = true;
start.parent = null;
start.playerhp = playerMaxHp;
foreach (Enemy e in enemies) {
start.enemyhp.Add (e, e.maxHealth);
}
// Prepare start and end node
Node end = GetNode (0, endX, endY);
tree.insert (start.GetArray (), start);
// Prepare the variables
Node nodeVisiting = null;
Node nodeTheClosestTo = null;
float tan = playerSpeed / 1;
angle = 90f - Mathf.Atan (tan) * Mathf.Rad2Deg;
/*Distribution algorithm
* List<Distribution.Pair> pairs = new List<Distribution.Pair> ();
for (int x = 0; x < matrix[0].Length; x++)
for (int y = 0; y < matrix[0].Length; y++)
if (((Cell)matrix [0] [x] [y]).waypoint)
pairs.Add (new Distribution.Pair (x, y));
pairs.Add (new Distribution.Pair (end.x, end.y));
Distribution rd = new Distribution(matrix[0].Length, pairs.ToArray());*/
DDA dda = new DDA (tileSizeX, tileSizeZ, nodeMatrix [0].Length, nodeMatrix [0] [0].Length);
//RRT algo
for (int i = 0; i <= attemps; i++) {
//Get random point
int rt = Random.Range (1, nodeMatrix.Length);
int rx = Random.Range (0, nodeMatrix [rt].Length);
int ry = Random.Range (0, nodeMatrix [rt] [rx].Length);
//Distribution.Pair p = rd.NextRandom();
//int rx = p.x, ry = p.y;
nodeVisiting = GetNode (rt, rx, ry);
if (nodeVisiting.visited || nodeVisiting.cell.blocked) {
i--;
continue;
}
nodeTheClosestTo = (Node)tree.nearest (new double[] {rx, rt, ry});
// Skip downwards movement
if (nodeTheClosestTo.t > nodeVisiting.t)
continue;
// Skip if player is dead
if (nodeTheClosestTo.playerhp <= 0)
continue;
// Only add if we are going in ANGLE degrees or higher
Vector3 p1 = nodeVisiting.GetVector3 ();
Vector3 p2 = nodeTheClosestTo.GetVector3 ();
Vector3 pd = p1 - p2;
if (Vector3.Angle (pd, new Vector3 (pd.x, 0f, pd.z)) < angle) {
continue;
}
// And we have line of sight
if (nodeVisiting.cell.blocked) {
continue;
}
// Check for all alive enemies
List<Cell[][][]> seenList = new List<Cell[][][]> ();
foreach (Enemy e in enemies) {
if (nodeTheClosestTo.enemyhp [e] > 0)
seenList.Add (e.seenCells);
}
Node hit = dda.Los3D (nodeMatrix, nodeTheClosestTo, nodeVisiting, seenList.ToArray ());
if (hit != null) {
if (hit.cell.blocked || (!simulateCombat && hit.cell.seen && !hit.cell.safe)) // Collision with obstacle, ignore. If we don't simulate combat, ignore collision with enemy
continue;
else {
// Which enemy has seen me?
Enemy toFight = null;
foreach (Enemy e in enemies) {
if (e.seenCells [hit.t] [hit.x] [hit.y] != null && nodeTheClosestTo.enemyhp [e] > 0)
toFight = e;
}
// Solve the time
float timef = nodeTheClosestTo.enemyhp [toFight] / (playerDps * stepSize);
int timeT = Mathf.CeilToInt (timef);
// Search for more enemies
List<object> more = new List<object> ();
foreach (Enemy e2 in enemies) {
if (toFight != e2)
for (int t = hit.t; t < hit.t + timeT; t++)
if (e2.seenCells [t] [hit.x] [hit.y] != null && nodeTheClosestTo.enemyhp [e2] > 0) {
Tuple<Enemy, int> whenSeen = new Tuple<Enemy, int> (e2, t);
more.Add (whenSeen);
break; // Skip this enemy
}
}
// Did another enemy saw the player while he was fighting?
if (more.Count > 0) {
// Who dies when
List<object> dyingAt = new List<object> ();
// First, save when the first fight starts
Node firstFight = NewNode (hit.t, hit.x, hit.y);
firstFight.parent = nodeTheClosestTo;
// Then when the first guy dies
Tuple<Enemy, int> death = new Tuple<Enemy, int> (toFight, firstFight.t + timeT);
dyingAt.Add (death);
// And proccess the other stuff
copy (nodeTheClosestTo, firstFight);
firstFight.fighting.Add (toFight);
// Navigation node
Node lastNode = firstFight;
// Solve for all enemies joining the fight
foreach (object o in more) {
Tuple<Enemy, int> joined = (Tuple<Enemy, int>)o;
// Calculate dying time
timef = timef + lastNode.enemyhp [joined.First] / (playerDps * stepSize);
timeT = Mathf.CeilToInt (timef);
death = new Tuple<Enemy, int> (joined.First, timeT + hit.t);
dyingAt.Add (death);
// Create the node structure
Node startingFight = NewNode (joined.Second, hit.x, hit.y);
// Add to fighting list
copy (lastNode, startingFight);
startingFight.fighting.Add (joined.First);
// Correct parenting
startingFight.parent = lastNode;
lastNode = startingFight;
}
// Solve for all deaths
foreach (object o in dyingAt) {
Tuple<Enemy, int> dead = (Tuple<Enemy, int>)o;
Node travel = lastNode;
bool didDie = false;
while (!didDie && travel.parent != null) {
// Does this guy dies between two nodes?
if (dead.Second > travel.parent.t && dead.Second < travel.t) {
// Add the node
Node adding = NewNode (dead.Second + hit.t, hit.x, hit.y);
adding.fighting = new List<Enemy> ();
adding.fighting.AddRange (travel.parent.fighting);
// And remove the dead people
adding.fighting.Remove (dead.First);
adding.died = dead.First;
Node remove = lastNode;
// Including from nodes deeper in the tree
while (remove != travel.parent) {
remove.fighting.Remove (dead.First);
remove = remove.parent;
}
// Reparent the nodes
adding.parent = travel.parent;
travel.parent = adding;
didDie = true;
}
travel = travel.parent;
}
if (!didDie) {
// The guy didn't die between, that means he's farthest away than lastNode
Node adding = NewNode (dead.Second, hit.x, hit.y);
copy (lastNode, adding);
adding.fighting.Remove (dead.First);
adding.enemyhp [dead.First] = 0;
adding.died = dead.First;
adding.parent = lastNode;
// This is the new lastNode
lastNode = adding;
}
}
// Grab the first node with fighting
Node first = lastNode;
while (first.parent != nodeTheClosestTo)
first = first.parent;
while (first != lastNode) {
Node navigate = lastNode;
// And grab the node just after the first
while (navigate.parent != first)
navigate = navigate.parent;
// Copy the damage already applied
navigate.playerhp = first.playerhp;
// And deal more damage
foreach (Enemy dmgDealer in first.fighting)
navigate.playerhp -= (navigate.t - first.t) * dmgDealer.dps * stepSize;
// Goto next node
first = navigate;
}
// Make the tree structure
nodeVisiting = lastNode;
} else {
// Only one enemy has seen me
Node toAdd = NewNode (hit.t, hit.x, hit.y);
nodeVisiting = NewNode (hit.t + timeT, hit.x, hit.y);
nodeVisiting.parent = toAdd;
toAdd.parent = nodeTheClosestTo;
copy (nodeTheClosestTo, toAdd);
toAdd.fighting.Add (toFight);
copy (nodeTheClosestTo, nodeVisiting);
nodeVisiting.playerhp = toAdd.playerhp - timef * toFight.dps * stepSize;
nodeVisiting.enemyhp [toFight] = 0;
nodeVisiting.died = toFight;
}
}
} else {
// Nobody has seen me
nodeVisiting.parent = nodeTheClosestTo;
copy (nodeTheClosestTo, nodeVisiting);
}
try {
tree.insert (nodeVisiting.GetArray (), nodeVisiting);
} catch (KeyDuplicateException) {
}
nodeVisiting.visited = true;
// Add the path to the death paths list
if (nodeVisiting.playerhp <= 0) {
Node playerDeath = nodeVisiting;
while (playerDeath.parent.playerhp <= 0)
playerDeath = playerDeath.parent;
deathPaths.Add (ReturnPath (playerDeath, smooth));
}
// Attemp to connect to the end node
if (nodeVisiting.playerhp > 0) {
// Compute minimum time to reach the end node
p1 = nodeVisiting.GetVector3 ();
p2 = end.GetVector3 ();
p2.y = p1.y;
float dist = Vector3.Distance (p1, p2);
float t = dist * Mathf.Tan (angle);
pd = p2;
pd.y += t;
if (pd.y <= nodeMatrix.GetLength (0)) {
Node endNode = GetNode ((int)pd.y, (int)pd.x, (int)pd.z);
// Try connecting
seenList = new List<Cell[][][]> ();
foreach (Enemy e in enemies) {
if (nodeTheClosestTo.enemyhp [e] > 0)
seenList.Add (e.seenCells);
}
hit = dda.Los3D (nodeMatrix, nodeVisiting, endNode, seenList.ToArray ());
// To simplify things, only connect if player isn't seen or collides with an obstacle
if (hit == null) {
endNode.parent = nodeVisiting;
copy (endNode.parent, endNode);
List<Node> done = ReturnPath (endNode, smooth);
//UpdateNodeMatrix (done);
return done;
}
}
if (nodeVisiting.playerhp < playerMaxHp)
// Health pack solving
foreach (HealthPack pack in packs) {
if (!nodeVisiting.picked.Contains(pack)) {
// Compute minimum time to reach the pack
p1 = nodeVisiting.GetVector3 ();
p2 = new Vector3(pack.posX, p1.y, pack.posZ);
dist = Vector3.Distance (p1, p2);
t = dist * Mathf.Tan (angle);
pd = p2;
pd.y += t;
if (pd.y <= nodeMatrix.GetLength (0)) {
// TODO If the node is already on the Tree, things may break!
// but we need to add it to the tree and retrieve from it to make it a possible path!
Node packNode = GetNode ((int)pd.y, (int)pd.x, (int)pd.z);
// Try connecting
seenList = new List<Cell[][][]> ();
foreach (Enemy e in enemies) {
if (nodeVisiting.enemyhp [e] > 0)
seenList.Add (e.seenCells);
}
hit = dda.Los3D (nodeMatrix, nodeVisiting, packNode, seenList.ToArray ());
// To simplify things, only connect if player isn't seen or collides with an obstacle
if (hit == null) {
packNode.parent = nodeVisiting;
copy (packNode.parent, packNode);
packNode.picked.Add(pack);
packNode.playerhp = playerMaxHp;
try {
tree.insert(packNode.GetArray(), packNode);
} catch (KeyDuplicateException) {
}
}
}
}
}
}
//Might be adding the neighboor as a the goal
if (nodeVisiting.x == end.x & nodeVisiting.y == end.y) {
//Debug.Log ("Done2");
List<Node> done = ReturnPath (nodeVisiting, smooth);
//UpdateNodeMatrix (done);
return done;
}
}
return new List<Node> ();
}
public static void ComputePathsLoSValues(List <Path> paths, Enemy[] enemies, Vector3 min, float tileSizeX, float tileSizeZ, Cell[][][] fullMap, float[][] dangerCells, float maxDanger)
{
// Compute the y = ax + b equation for each FoV (i.e. enemy=)
float[][] formula = new float[enemies.Length][];
for (int i = 0; i < formula.Length; i++)
{
formula [i] = new float[2];
formula [i] [0] = (180 - enemies [i].fovAngle) * -2;
formula [i] [1] = enemies [i].fovAngle - formula [i] [0];
}
DDA dda = new DDA(tileSizeX, tileSizeZ, fullMap [0].Length, fullMap [0] [0].Length);
foreach (Path currentPath in paths)
{
if (currentPath.length3d == 0)
{
currentPath.length3d = ComputeLength3D(currentPath.points);
}
Node cur = currentPath.points [currentPath.points.Count - 1];
Node par = cur.parent;
while (cur.parent != null)
{
Vector3 p1 = cur.GetVector3();
Vector3 p2 = par.GetVector3();
Vector3 pd = p1 - p2;
float pt = (cur.t - par.t);
// Navigate through time to find the right cells to start from
for (int t = 0; t < pt; t++)
{
float delta = ((float)t) / pt;
Vector3 pos = p2 + pd * delta;
for (int enemyIndex = 0; enemyIndex < enemies.Length; enemyIndex++)
{
Vector3 enemy = enemies [enemyIndex].positions [par.t + t];
Vector2 pos2d = new Vector2(pos.x, pos.z);
Vector2 enemy2d = new Vector2((enemy.x - min.x) / tileSizeX, (enemy.z - min.z) / tileSizeZ);
bool seen = dda.HasLOS(fullMap[par.t + t], pos2d, enemy2d);
// If the cell is in LoS
if (seen && enemies [enemyIndex].cells [par.t + t].Length > 0)
{
// Grab the cell closest to my position
Vector2 shortest = enemies [enemyIndex].cells [par.t + t] [0];
float dist = Vector2.Distance(shortest, pos2d);
float ddist;
for (int k = 1; k < enemies[enemyIndex].cells[par.t + t].Length; k++)
{
ddist = Vector2.Distance(enemies [enemyIndex].cells [par.t + t] [k], pos2d);
if (ddist < dist)
{
dist = ddist;
shortest = enemies [enemyIndex].cells [par.t + t] [k];
}
}
// Calculate the angle between them
float angle = Vector2.Angle(enemies [enemyIndex].positions [par.t + t].normalized, (pos2d - enemy2d).normalized);
if (angle <= enemies [enemyIndex].fovAngle)
{
angle = 1;
}
else
{
angle = (angle - formula [enemyIndex] [1]) / formula [enemyIndex] [0];
}
float f = angle / (pos2d - shortest).sqrMagnitude;
float g = angle / Mathf.Pow((pos2d - shortest).magnitude, 3);
if (f == Mathf.Infinity)
{
f = angle / (pos2d - enemy2d).sqrMagnitude;
}
if (g == Mathf.Infinity)
{
g = angle / Mathf.Pow((pos2d - enemy2d).magnitude, 3);
}
// Store in 'per-time' metric
pathMap [currentPath] [(int)Heuristic.Los] [par.t + t] = f;
pathMap [currentPath] [(int)Heuristic.Los3] [par.t + t] = g;
pathMap [currentPath] [(int)Heuristic.Los3Norm] [par.t + t] = g * (dangerCells [(int)pos2d.x] [(int)pos2d.y] / maxDanger);
// Increment the total metric
currentPath.los += pathMap [currentPath] [(int)Heuristic.Los] [par.t + t];
currentPath.los3 += pathMap [currentPath] [(int)Heuristic.Los3] [par.t + t];
currentPath.los3Norm += pathMap [currentPath] [(int)Heuristic.Los3Norm] [par.t + t];
}
}
}
cur = par;
par = par.parent;
}
currentPath.los /= currentPath.length3d;
currentPath.los3 /= currentPath.length3d;
currentPath.los3Norm /= currentPath.length3d;
}
}