//Call delete function for graph as well as reorganize the nodes in the editor net
public void DeleteNode(int A)
{
Graph.DeleteNode(A);
Debug.Log("Deleting!");
pathNodeContainer [] nodeObjs = gameObject.GetComponentsInChildren <pathNodeContainer>();
Debug.Log(nodeObjs.Length);
for (int i = A; i < nodeObjs.Length; i++)
{
nodeObjs[i].Node = Graph.GetNodeList()[i];
nodeObjs[i].GenerateName();
}
}
//Create pathNode for sparse graph
public void ConnectGraphs(int GraphIDA, int GraphNodeA, int GraphIDB, int GraphNodeB)
{
sparseGraph.AddNodes(1);
pathNode linker = sparseGraph.GetNodeList()[sparseGraph.NodeCount - 1];
//Place linker node over doorway
linker.position = Graphs[GraphIDA].GetNodeList()[GraphNodeA].position;
//Link A to B
Graphs[GraphIDA].LinkGraph(Graphs[GraphIDB], GraphNodeA, linker);
//Link B to A
Graphs[GraphIDB].LinkGraph(Graphs[GraphIDA], GraphNodeB, linker);
}
void OnEnable()
{
_target = (SimpleAIGraphContainer)target;
Graph = _target.GetGraph();
if (Graph == null)
{
Graph = new GraphSimple();
}
//Ensure that the root node is part of the path
if (Graph.NodeCount < 1)
{
Graph.AddNodes(1);
Graph.GetNodeList()[0].position = _target.transform.position;
}
}
private static List <float> GetDistances(GraphSimple graphIn)
{
List <float> distances = new List <float>();
List <pathNode> graph = graphIn.GetNodeList();
for (int i = 0; i < graph.Count; i++)
{
distances.Add(graph[i].dist);
}
return(distances);
}
void GetDistances()
{
distances.Clear();
distances = Dijkstra.AllDistancesFromNode(testGraph, DistanceNodeIDInt);
int index = 0;
foreach (pathNode node in testGraph.GetNodeList())
{
//Debug.Log(node.dist);
foreach (pathNode neighbor in node.neighbors)
{
Debug.Log("Node " + index + " connected to:" + neighbor.ID);
}
index++;
}
}
//Faster Method
public void BuildPlaneGraph(float width, float height, int segments)
{
this.width = width;
this.height = height;
simpleGraph = new GraphSimple();
List <int> Neighbors = new List <int>();
List <float> Weights = new List <float>();
float deltaHeight = height / segments;
float deltaWidth = width / segments;
//transform.TransformPoint(new Vector3(j*(width/segments)-width/2, 0, i*(height/segments)-height/2));
simpleGraph.AddNodes((segments + 1) * (segments + 1));
List <pathNode> DeadNodes = new List <pathNode>();
List <int> DeadVerts = new List <int>();
pathNode currentNode;
for (int i = 0; i <= segments; i++)
{
for (int j = 0; j <= segments; j++)
{
currentNode = simpleGraph.GetNodeList()[i * (segments + 1) + j];
currentNode.position = transform.TransformPoint(new Vector3(j * (deltaWidth) - width / 2, 0, i * (deltaHeight) - height / 2));
//RaycastHit hit;
//if (Physics.Raycast(currentNode.position, -Vector3.up, out hit))
//{
// currentNode.position=transform.TransformPoint(new Vector3(j*(deltaWidth)-width/2, hit.point.y, i*(deltaHeight)-height/2));
//}
Neighbors.Clear();
Weights.Clear();
//Debug.Log ("Node #"+(i*(segments+1)+j));
//Up and Down
if (i > 0)
{
Neighbors.Add(((i - 1) * (segments + 1) + (j)));
Weights.Add(deltaHeight);
//Debug.Log ("Down");
}
if (i < segments)
{
Neighbors.Add(((i + 1) * (segments + 1) + (j)));
Weights.Add(deltaHeight);
//Debug.Log ("Up");
}
//Left and Right
if (j > 0)
{
Neighbors.Add(((i) * (segments + 1) + (j - 1)));
Weights.Add(deltaWidth);
//Debug.Log ("Left");
}
if (j < segments)
{
Neighbors.Add(((i) * (segments + 1) + (j + 1)));
Weights.Add(deltaWidth);
//Debug.Log ("Right");
}
//Top-left to Bottom-right Diagonal
if (i > 0 && j > 0)
{
Neighbors.Add((i - 1) * (segments + 1) + (j - 1));
Weights.Add(Mathf.Sqrt(deltaWidth * deltaWidth + deltaHeight * deltaHeight));
//Debug.Log ("Bottom Left");
}
if (i < segments && j < segments)
{
Neighbors.Add((i + 1) * (segments + 1) + (j + 1));
Weights.Add(Mathf.Sqrt(deltaWidth * deltaWidth + deltaHeight * deltaHeight));
//Debug.Log ("Top right");
}
//Top-right to Bottom-left Diagonal
if ((i < segments) && j > 0)
{
Neighbors.Add(((i + 1) * (segments + 1) + (j - 1)));
Weights.Add(Mathf.Sqrt(deltaWidth * deltaWidth + deltaHeight * deltaHeight));
//Debug.Log ("Top left");
}
if (i > 0 && j < segments)
{
Neighbors.Add((i - 1) * (segments + 1) + (j + 1));
Weights.Add(Mathf.Sqrt(deltaWidth * deltaWidth + deltaHeight * deltaHeight));
//Debug.Log ("Bottom Right");
}
int index = 0;
foreach (int Neighbor in Neighbors)
{
//Debug.Log (Neighbor);
pathNode neighbor = simpleGraph.GetNodeList()[Neighbor];
currentNode.neighbors.Add(neighbor);
currentNode.weight.Add(Weights[index]);
index++;
}
//Debug.Log(i);
}
}
foreach (pathNode node in simpleGraph.GetNodeList())
{
node.dist = 0;
}
//Scan physics graph
foreach (pathNode node in simpleGraph.GetNodeList())
{
//Debug.Log (node.neighbors.Count);
for (int i = 0; i < node.neighbors.Count; i++)
{
pathNode Neighbor = node.neighbors[i];
//Debug.Log ("Ray cast from "+node.position+" to "+Neighbor.position+" with a distance of "+Vector3.Distance(Neighbor.position,node.position));
//Debug.Log ("Node #"+node.ID+" Hit toward: "+Neighbor.ID);
if (Physics.Raycast(node.position, Vector3.Normalize(Neighbor.position - node.position), Vector3.Distance(Neighbor.position, node.position)))
{
//Debug.DrawLine(Neighbor.position,node.position);
if (!Physics.Raycast(node.position, Vector3.Normalize(node.position - Neighbor.position), Vector3.Distance(Neighbor.position, node.position)))
{
if (DeadVerts.Contains(Neighbor.ID))
{
DeadNodes.Add(Neighbor); DeadVerts.Add(Neighbor.ID);
}
}
//removeCount++;
node.neighbors.RemoveAt(i);
node.weight.RemoveAt(i);
i--;
Neighbor.dist += 1;
}
}
}
//Dead Node Removal
for (int i = 0; i < DeadNodes.Count; i++)
{
//Debug.Log (DeadNodes[i]);
simpleGraph.DeleteNode(DeadNodes[i].ID);
}
//Filter nodes Remove count
for (int i = 0; i < simpleGraph.NodeCount; i++)
{
pathNode node = simpleGraph.GetNodeList()[i];
//Debug.Log("Hit count: "+node.dist);
if (node.dist >= 3)
{
simpleGraph.DeleteNode(node.ID);
i--;
}
}
for (int i = 0; i < simpleGraph.NodeCount; i++)
{
pathNode node = simpleGraph.GetNodeList()[i];
if (node.neighbors.Count < 3)
{
simpleGraph.DeleteNode(node.ID);
}
}
}
//public List<pathNode> shortestPath = new List<pathNode>();
public static List <pathNode> ShortestPath(GraphSimple graphIn, int SourceIndex, int DestinationIndex)
{
//Create temp list for shortest path
List <pathNode> shortestPath = new List <pathNode>();
List <pathNode> graph = graphIn.GetNodeList();
if (SourceIndex == DestinationIndex)
{
shortestPath.Add(graph[SourceIndex]);
Debug.Log("Indices the same!");
return(shortestPath);
}
//Reset distances
//Find source and destination nodes
for (int i = 0; i < graph.Count; i++)
{
graph[i].dist = Mathf.Infinity;
graph[i].previous = null;
graph[i].Removed = false;
}
//Set the initial node as a distance of 0
graph[SourceIndex].dist = 0;
//While nodes are not empty
int nodesLeft = graph.Count;
while (nodesLeft > 0)
{
pathNode min = new pathNode();
//Grab shortest distance point. Accounts for ALL nodes
for (int i = 0; i < graph.Count; i++)
{
if ((graph[i].dist < min.dist) && !graph[i].Removed)
{
min = graph[i];
}
}
//Re-reference min to a new name. Combine them?
pathNode smallestpathNode = min;
//Remove node
graph[smallestpathNode.ID].Removed = true;
nodesLeft--;
//Exit condition. Destination Reached!
if ((smallestpathNode.ID == DestinationIndex))
{
//Debug.Log ("Found!");
return(getPath(smallestpathNode));
}
//We can't reach the node!
else if (smallestpathNode.dist == Mathf.Infinity)
{
//Debug.Log("No connection!");
return(shortestPath);
}
//List<pathNode> neighbors = smallestpathNode.neighbors;
for (int i = 0; i < smallestpathNode.neighbors.Count; i++)
{
float alt = smallestpathNode.dist + smallestpathNode.weight[i];
if (alt < smallestpathNode.neighbors[i].dist)
{
smallestpathNode.neighbors[i].dist = alt;
smallestpathNode.neighbors[i].previous = smallestpathNode;
}
}
}
Debug.Log("All Nodes Ventured");
return(shortestPath);
}
public override void OnInspectorGUI()
{
GraphContainer = _target.transform.parent.GetComponent(typeof(SimpleAIGraphContainer)) as SimpleAIGraphContainer;
if (_target.Node != Graph.GetNodeList()[_target.Node.ID])
{
_target.Node = Graph.GetNodeList()[_target.Node.ID];
}
GUILayout.BeginVertical();
if (_target.Node != null)
{
GUILayout.Label("Node Information", EditorStyles.boldLabel);
GUILayout.Label("ID: " + _target.Node.ID);
GUILayout.BeginHorizontal();
GUILayout.Label("Passthrough?: ");
if (_target.Node.passThrough)
{
if (GUILayout.Button("True"))
{
_target.Node.passThrough = false;
}
}
else
{
if (GUILayout.Button("False"))
{
_target.Node.passThrough = true;
}
}
GUILayout.EndHorizontal();
GUILayout.Label("Position: " + _target.Node.position);
GUILayout.Label("Neighbors: ", EditorStyles.boldLabel);
for (int i = 0; i < _target.Node.neighbors.Count; i++)
{
GUILayout.Label("Node " + _target.Node.neighbors[i].ID);
}
}
_target.Node.position = _target.transform.position;
if (GUILayout.Button("Add Node") && GraphContainer != null)
{
Graph.AddNodes(1);
Graph.GetNodeList()[GraphContainer.GetGraph().NodeCount - 1].position = _target.transform.position + new Vector3(1, 0, 0);
Graph.ConnectNodes(_target.Node.ID, Graph.NodeCount - 1, 1);
Graph.ConnectNodes(Graph.NodeCount - 1, _target.Node.ID, 1);
GameObject tempObj = new GameObject("");
tempObj.transform.position = _target.transform.position + new Vector3(1, 0, 0);
pathNodeContainer tempNode = tempObj.AddComponent(typeof(pathNodeContainer)) as pathNodeContainer;
tempNode.Node = Graph.GetNodeList()[Graph.NodeCount - 1];
tempNode.GenerateName();
tempObj.transform.parent = GraphContainer.transform;
}
if (GUILayout.Button("Merge Closest Node") && GraphContainer != null)
{
int closestID = _target.Node.ID;
float minDist = Mathf.Infinity;
for (int i = 0; i < Graph.NodeCount; i++)
{
float dist = Vector3.Distance(Graph.GetNodeList()[i].position, _target.transform.position);
if (dist < minDist && Graph.GetNodeList()[i].ID != _target.Node.ID)
{
minDist = dist;
closestID = Graph.GetNodeList()[i].ID;
}
}
if (closestID != _target.Node.ID)
{
if (EditorUtility.DisplayDialog("Merge nodes?", "The closest node is node " + closestID + ", would you like to merge these nodes together?", "Merge", "Cancel"))
{
GraphContainer.MergeNodes(_target.Node.ID, closestID);
destroyMe = true;
}
}
}
if (GUILayout.Button("Delete Node") && GraphContainer != null)
{
if (EditorUtility.DisplayDialog("Delete Selected Node?", "Are you sure you want to delete node " + _target.Node.ID + "?", "Delete", "Cancel"))
{
GraphContainer.DeleteNode(_target.Node.ID);
destroyMe = true;
}
}
GUILayout.EndVertical();
if (destroyMe)
{
DestroyImmediate(_target.gameObject);
}
}
public void TeleportToNode(int ID)
{
transform.position = NodePath.GetNodeList()[currentNode].position;
currentNode = ID;
}