private void CheckDiagonalPositions(List <Edge> directNeighbourhood, Edge edge)
{
if (edge == Edge.Right || edge == Edge.Left)
{
throw new ArgumentException();
}
var pos = _tile.mapPosition;
var edgePos = MapUtils.FromEdgeToVec2(edge);
var edgeLeftPos = MapUtils.FromEdgeToVec2(Edge.Left);
var edgeRightPos = MapUtils.FromEdgeToVec2(Edge.Right);
if (directNeighbourhood.Contains(edge))
{
if (edge == Edge.Down)
{
_obstacles.Add(ObstacleType.down);
}
else
{
_obstacles.Add(ObstacleType.up);
}
if (directNeighbourhood.Contains(Edge.Left))
{
if (_map[pos + edgePos + edgeLeftPos].state == TileState.Free)
{
if (edge == Edge.Down)
{
_obstacles.Add(ObstacleType.left_down);
}
else
{
_obstacles.Add(ObstacleType.left_up);
}
}
}
if (directNeighbourhood.Contains(Edge.Right))
{
if (_map[pos + edgePos + edgeRightPos].state == TileState.Free)
{
if (edge == Edge.Down)
{
_obstacles.Add(ObstacleType.right_down);
}
else
{
_obstacles.Add(ObstacleType.right_up);
}
}
}
}
}
public void GeneratePathway()
{
var currentTile = endPosition;
while (currentTile != Vector2.zero)
{
map[currentTile].state = TileState.Path;
var nextTile = MapUtils.GetPreviusTile(currentTile, map);
currentTile = nextTile;
}
InitializeMap();
}
public override void CalculatePath()
{
cameFrom = new Dictionary <Vector2, Vector2>();
costSoFar = new Dictionary <Vector2, double>();
var startPos = mapManager.startPosition;
var endPos = mapManager.endPosition;
var first = new SimplePriorityQueue <Vector2, double>();
first.Enqueue(startPos, 0);
cameFrom[startPos] = startPos;
costSoFar[startPos] = 0;
while (first.Count > 0)
{
var current = first.Dequeue();
if (current.Equals(endPos))
{
break;
}
foreach (var next in MapUtils.GetNeighbourTiles(current, mapManager.map))
{
double newCost = costSoFar[current] + 1; //changeable later - currently costs always 1
if (mapManager.map[next].state == TileState.Occupied) //if occupied by obstacle
{
continue;
}
if (!costSoFar.ContainsKey(next) || newCost < costSoFar[next])
{
var edge = MapUtils.FromVec2ToEdge(current - next);
mapManager.map[next].edge = MapUtils.GetOppositeEdge(edge);
costSoFar[next] = newCost;
double priority = newCost + Heuristic(next, endPos);
first.Enqueue(next, priority);
cameFrom[next] = current;
}
}
}
mapManager.GeneratePathway();
}
public static List <Vector2> GetNeighbourTiles(Vector2 position, Dictionary <Vector2, TileData> map)
{
var neighbours = new List <Vector2>();
foreach (Edge edge in Edge.GetValues(typeof(Edge)))
{
var pos = MapUtils.FromEdgeToVec2(edge) + position;
if (!map.ContainsKey(pos))
{
continue;
}
neighbours.Add(pos);
}
return(neighbours);
}
public override void CalculatePath()
{
var map = mapManager.map;
_first = new Queue <Vector2>();
_first.Enqueue(mapManager.startPosition);
_visited = new HashSet <Vector2>();
_visited.Add(mapManager.startPosition);
while (_first.Count > 0)
{
var current = _first.Dequeue();
if (current == mapManager.endPosition) //end when reaching end position
{
break;
}
foreach (var next in MapUtils.GetNeighbourTiles(current, mapManager.map))
{
if (map[next].state == TileState.Occupied) //if occupied by obstacle
{
continue;
}
if (_visited.Contains(next)) //if already checked
{
continue;
}
var edge = MapUtils.FromVec2ToEdge(current - next);
map[next].edge = MapUtils.GetOppositeEdge(edge);
_first.Enqueue(next);
_visited.Add(next);
}
}
mapManager.GeneratePathway();
}
private void SetObstacle(ObstacleType type)
{
var tiles = new List <Vector2>();
var mainTilePos = _tile.mapPosition;
tiles.Add(_tile.mapPosition);
var pos = _tile.mapPosition;
var edgeUpPos = MapUtils.FromEdgeToVec2(Edge.Up);
var edgeDownPos = MapUtils.FromEdgeToVec2(Edge.Down);
var edgeLeftPos = MapUtils.FromEdgeToVec2(Edge.Left);
var edgeRightPos = MapUtils.FromEdgeToVec2(Edge.Right);
switch (type)
{
case ObstacleType.down:
tiles.Add(mainTilePos + edgeDownPos);
break;
case ObstacleType.up:
tiles.Add(mainTilePos + edgeUpPos);
break;
case ObstacleType.left:
tiles.Add(mainTilePos + edgeLeftPos);
break;
case ObstacleType.right:
tiles.Add(mainTilePos + edgeRightPos);
break;
case ObstacleType.left_down:
tiles.Add(mainTilePos + edgeDownPos);
tiles.Add(mainTilePos + edgeLeftPos);
tiles.Add(mainTilePos + edgeDownPos + edgeLeftPos);
break;
case ObstacleType.left_up:
tiles.Add(mainTilePos + edgeUpPos);
tiles.Add(mainTilePos + edgeLeftPos);
tiles.Add(mainTilePos + edgeUpPos + edgeLeftPos);
break;
case ObstacleType.right_down:
tiles.Add(mainTilePos + edgeDownPos);
tiles.Add(mainTilePos + edgeRightPos);
tiles.Add(mainTilePos + edgeDownPos + edgeRightPos);
break;
case ObstacleType.right_up:
tiles.Add(mainTilePos + edgeUpPos);
tiles.Add(mainTilePos + edgeRightPos);
tiles.Add(mainTilePos + edgeUpPos + edgeRightPos);
break;
}
foreach (Vector2 tile in tiles)
{
_map[tile].state = TileState.Occupied;
_map[tile].edge = Edge.Zero;
}
}
