public List <SpiderNode> FindNextNode(List <SpiderNode> nodes, Spider _monster)
{
List <SpiderNode> _connectNodeList = new List <SpiderNode>();
if (parentNode == this)
{
List <DirandRot> _canMoveVectors = _monster.FindCanMoveVectors(this);
foreach (DirandRot _DR in _canMoveVectors)
{
if (_DR == null)
{
continue;
}
foreach (DirandRot _parentDR in _monster.FindCollisionVectors())
{
if (_parentDR == null)
{
continue;
}
parentDR = _parentDR;
Vector2 nextNodePosition = this.position;
DirandRot downDR;
if (parentDR.rot.eulerAngles.y == 0f)
{
downDR = new DirandRot(new Vector2(parentDR.dir.y, -parentDR.dir.x),
Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z - 90f));
}
else
{
downDR = new DirandRot(new Vector2(-parentDR.dir.y, parentDR.dir.x),
Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z - 90f));
}
DirandRot checkDR;
checkDR = new DirandRot(new Vector2(-parentDR.dir.y, parentDR.dir.x),
parentDR.rot.eulerAngles.y == 0f ? Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z + 90f)
: Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z - 90f));
if (_DR == parentDR) // 직진할 경우
{
bool isFloorExist = true;
foreach (DirandRot d in _canMoveVectors)
{
if (d == null)
{
continue;
}
if (d == downDR) // 바닥이 없을 경우.
{
isFloorExist = false;
break;
}
}
if (isFloorExist)
{
nextNodePosition = this.position + _DR.dir;
checkDR = parentDR;
}
}
if (this.position == nextNodePosition && _DR == checkDR) //반시계 90도 회전.
{
bool canTurn = true;
if (parentDR.rot.eulerAngles.y != 0f)
{
foreach (DirandRot d in _canMoveVectors)
{
if (d == null)
{
continue;
}
if (d == downDR) // 바닥이 없을 경우.
{
canTurn = false;
break;
}
else if (d == parentDR) // 앞쪽 벽이 없을 경우.
{
canTurn = false;
break;
}
}
}
if (canTurn)
{
nextNodePosition = this.position + checkDR.dir;
}
}
else if (this.position == nextNodePosition)
{ // 시계 90도 회전. 아마도.
checkDR = new DirandRot(new Vector2(parentDR.dir.y, -parentDR.dir.x),
parentDR.rot.eulerAngles.y == 0f ? Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z - 90f)
: Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z + 90f));
if (_DR == checkDR) //가는 경로 바닥에 타일 있는지 확인 조건 추가.
{
bool canTurn = true;
if (parentDR.rot.eulerAngles.y == 0f)
{
foreach (DirandRot d in _canMoveVectors)
{
if (d == null)
{
continue;
}
if (d == downDR) // 바닥이 없을 경우.
{
canTurn = false;
break;
}
else if (d == parentDR) // 앞쪽 벽이 없을 경우.
{
canTurn = false;
break;
}
}
}
if (canTurn)
{
nextNodePosition = this.position + checkDR.dir;
}
}
}
if (nextNodePosition != this.position)
{
foreach (SpiderNode _node in nodes)
{
if (_node.position == nextNodePosition)
{
_node.parentDR = new DirandRot(checkDR.dir, checkDR.rot);
_connectNodeList.Add(_node);
break;
}
}
}
}
}
}
else
{
foreach (DirandRot _DR in canMoveVectors)
{
if (_DR == null)
{
continue;
}
Vector2 nextNodePosition = this.position;
DirandRot downDR;
if (parentDR.rot.eulerAngles.y == 0f)
{
downDR = new DirandRot(new Vector2(parentDR.dir.y, -parentDR.dir.x),
Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z - 90f));
}
else
{
downDR = new DirandRot(new Vector2(-parentDR.dir.y, parentDR.dir.x),
Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z - 90f));
}
DirandRot checkDR;
checkDR = new DirandRot(new Vector2(-parentDR.dir.y, parentDR.dir.x),
parentDR.rot.eulerAngles.y == 0f ? Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z + 90f)
: Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z - 90f));
if (_DR == parentDR) // 직진할 경우
{
bool isFloorExist = true;
foreach (DirandRot d in canMoveVectors)
{
if (d == null)
{
continue;
}
if (d == downDR) // 바닥이 없을 경우.
{
isFloorExist = false;
break;
}
}
if (isFloorExist)
{
nextNodePosition = this.position + _DR.dir;
checkDR = parentDR;
}
}
if (this.position == nextNodePosition && _DR == checkDR) //반시계 90도 회전.
{
bool canTurn = true;
if (parentDR.rot.eulerAngles.y != 0f)
{
foreach (DirandRot d in canMoveVectors)
{
if (d == null)
{
continue;
}
if (d == downDR) // 바닥이 없을 경우.
{
canTurn = false;
break;
}
else if (d == parentDR) // 앞쪽 벽이 없을 경우.
{
canTurn = false;
break;
}
}
}
if (canTurn)
{
nextNodePosition = this.position + checkDR.dir;
}
}
else if (this.position == nextNodePosition)
{ // 시계 90도 회전. 아마도.
checkDR = new DirandRot(new Vector2(parentDR.dir.y, -parentDR.dir.x),
parentDR.rot.eulerAngles.y == 0f ? Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z - 90f)
: Quaternion.Euler(parentDR.rot.eulerAngles.x, parentDR.rot.eulerAngles.y, parentDR.rot.eulerAngles.z + 90f));
if (_DR == checkDR) //가는 경로 바닥에 타일 있는지 확인 조건 추가.
{
bool canTurn = true;
if (parentDR.rot.eulerAngles.y == 0f)
{
foreach (DirandRot d in canMoveVectors)
{
if (d == null)
{
continue;
}
if (d == downDR) // 바닥이 없을 경우.
{
canTurn = false;
break;
}
else if (d == parentDR) // 앞쪽 벽이 없을 경우.
{
canTurn = false;
break;
}
}
}
if (canTurn)
{
nextNodePosition = this.position + checkDR.dir;
}
}
}
if (nextNodePosition != this.position)
{
foreach (SpiderNode _node in nodes)
{
if (_node.position == nextNodePosition)
{
_node.parentDR = new DirandRot(checkDR.dir, checkDR.rot);
_connectNodeList.Add(_node);
break;
}
}
}
}
}
if (_connectNodeList.Count == 0)
{
Debug.Log(this.position + " : this SpiderNode can't find connected Node!");
}
return(_connectNodeList);
}
public DirandRot GetNextNode(Spider _monster)
{
int loopcount = 0;
List <SpiderNode> _nodes = new List <SpiderNode>(nodes);
List <SpiderNode> nodeOpenList = new List <SpiderNode>();
List <SpiderNode> nodeClosedList = new List <SpiderNode>();
// 플레이어가 공중에 있을때 원래 있던 땅 자리를 목적지로 만드려는 것.
Vector2 playerNodePosition = new Vector2();
int playerXindex = Mathf.FloorToInt(playerPosition.position.x + 0.5f + offsetX);
int playerYindex = Mathf.FloorToInt(playerPosition.position.y + 0.5f + offsetY);
for (int i = 0; i < (platformTiles[playerXindex].Count - playerYindex); i++)
{
if (platformTiles[playerXindex][playerYindex - i - 1].exist)
{
playerNodePosition = new Vector2(playerXindex - offsetX, playerYindex - i - offsetY);
break;
}
else if (Mathf.Abs(playerXindex - offsetX - playerPosition.position.x) + playerColliderSizeX / 2 > 0.5f)
{
int _playerXindex = playerXindex + (playerXindex - offsetX - playerPosition.position.x > 0 ? -1 : 1);
if (platformTiles[_playerXindex][playerYindex - i - 1].exist && !platformTiles[_playerXindex][playerYindex - i].exist)
{
playerNodePosition = new Vector2(_playerXindex - offsetX, playerYindex - i - offsetY);
break;
}
}
}
SpiderNode goalNode =
MakeNode((int)(playerNodePosition.x + offsetX), (int)(playerNodePosition.y + offsetY)
, _nodes);
//현재 길 찾고있는 Spider의 속한 그리드의 중심에 노드를 만들기 위함. 원래 그자리에 노드가 있으면 합침.
SpiderNode selfNode =
MakeNode((int)(_monster.GetPosition().x + offsetX), (int)(_monster.GetPosition().y + offsetY)
, _nodes);
if (selfNode == null || goalNode == null) //spider 주변에 벽이 없거나, 플레이어 아래 바닥이 끝까지 없을 때.
{
_monster.inGameObject.SendMessage("Fall");
return(new DirandRot(new Vector2(0, 0), Quaternion.Euler(0, 0, 0)));
}
selfNode.parentNode = selfNode;
selfNode.SetGH(goalNode);
nodeOpenList.Add(selfNode);
SpiderNode nearestNode = null;
while (loopcount < 100)
{
loopcount++;
float minF = Mathf.Infinity;
SpiderNode minFNode = null;
foreach (SpiderNode _node in nodeOpenList)
{
float _currentF = _node.GetF();
if (minFNode == null || _currentF < minF && _node.H <= _monster.m_Script.spiderInfo.findRadius)
{
minF = _currentF;
minFNode = _node;
}
else if (_currentF == minF)
{
if (Random.Range(0, 2) == 1)
{
minF = _currentF;
minFNode = _node;
}
}
}
//Debug.Log(minFNode.position +" is 탐색됨. " + minFNode.FindNextNode(_nodes).Count);
if (!nodeClosedList.Contains(minFNode))
{
nodeClosedList.Add(minFNode);
}
nodeOpenList.Remove(minFNode);
if (nearestNode == null || nearestNode.H > minFNode.H)
{
nearestNode = minFNode;
}
foreach (SpiderNode _node in minFNode.FindNextNode(_nodes, _monster))
{
if (!nodeClosedList.Contains(_node))
{
_node.parentNode = minFNode;
if (_node == goalNode)
{
if (selfNode.position == goalNode.position)
{
return(new DirandRot(Vector2.zero, new Quaternion()));
}
SpiderNode getBackNode = _node;
loopcount = 0;
while (loopcount < 100)
{
loopcount++;
if (getBackNode.parentNode == selfNode)
{
return(getBackNode.parentDR);
}
getBackNode = getBackNode.parentNode;
}
Debug.Log("Loop count over to Goal Node. " + goalNode.position);
return(new DirandRot(Vector2.zero, new Quaternion()));
}
_node.SetGH(goalNode);
if (!nodeOpenList.Contains(_node))
{
nodeOpenList.Add(_node);
}
}
}
if (nodeOpenList.Count == 0)
{
Debug.Log(_monster.inGameObject.name + " can't find the path.");
if (nearestNode.position == selfNode.position)
{
return(new DirandRot(Vector2.zero, new Quaternion()));
}
SpiderNode getBackNode = nearestNode;
loopcount = 0;
while (loopcount < 100)
{
loopcount++;
if (getBackNode.parentNode == selfNode)
{
return(getBackNode.parentDR);
}
getBackNode = getBackNode.parentNode;
}
Debug.Log("Loop count over to Nearest Node.");
return(new DirandRot(Vector2.zero, new Quaternion()));
}
}
//Debug.Log("Loop count over in finding path. " + goalNode.position);
if (nearestNode.position == selfNode.position)
{
return(new DirandRot(Vector2.zero, new Quaternion()));
}
SpiderNode _getBackNode = nearestNode;
loopcount = 0;
while (loopcount < 100)
{
loopcount++;
if (_getBackNode.parentNode == selfNode)
{
return(_getBackNode.parentDR);
}
_getBackNode = _getBackNode.parentNode;
}
Debug.Log("Can't Find Anything with " + _monster.inGameObject.name);
return(new DirandRot(Vector2.zero, new Quaternion()));
}
