public static Vector2[] pathfind(Vector2 startPos, Vector2 targetPos, float distance = 0f)
{
// Get platform
var plat = Instance.GetPlatformInPosition(startPos);
GroundPlatform.Tile?end = instance.GetNearestTile(plat, targetPos);
GroundPlatform.Tile?start = instance.GetNearestTile(plat, startPos);
float d = (startPos - targetPos).sqrMagnitude;
float sqr = distance * distance;
List <Vector2> path = new List <Vector2>();
if (end.Value.pos == start.Value.pos && end.HasValue)
{
if (d > sqr)
{
path.Add(TileToWorldPos(end.Value.pos));
}
else
{
return(null);
}
}
int iteration = 0;
GroundPlatform.Tile current = start.Value;
while (current.pos != end.Value.pos && d > sqr)
{
byte dir = 0;
if (current.directions.ContainsKey(end.Value.pos))
{
dir = current.directions[end.Value.pos];
GroundPlatform.Tile?next = null;
switch (dir)
{
case 0:
next = plat.GetTile(current.pos + Vector2Int.right);
break;
case 1:
next = plat.GetTile(current.pos + Vector2Int.down);
break;
case 2:
next = plat.GetTile(current.pos + Vector2Int.left);
break;
case 3:
next = plat.GetTile(current.pos + Vector2Int.up);
break;
default:
break;
}
if (next.HasValue)
{
current = next.Value;
path.Add(TileToWorldPos(current.pos));
}
else
{
Debug.LogError("Pathfinding failed because of corrupted direction data at " + current.pos + " with direction " + dir);
return(null);
}
}
else
{
Debug.LogError("Pathfinding failed because of incomplete ground platform generation.");
return(null);
}
d = (targetPos - TileToWorldPos(current.pos)).sqrMagnitude;
iteration++;
if (iteration > 10000)
{
string s = "";
for (int i = 0; i < path.Count; i++)
{
s += path[i].ToString() + '\n';
}
Debug.Log(s);
Debug.LogError("Infinite loop in pathfinding!");
return(null);
}
}
// Get closer from the tile center if needed
//d = (current.pos - targetPos).magnitude;
//if (d > distance && path.Count > 0)
//{
// path[path.Count - 1] = current.pos + (current.pos - targetPos).normalized * (d - distance);
//}
path.Reverse();
string pathString = "";
for (int i = 0; i < path.Count; i++)
{
pathString += path[i].ToString();
}
if (path.Count > 1)
{
d = (startPos - path[path.Count - 1]).magnitude;
if ((start.Value.type == 0 ||
start.Value.type == 7 ||
start.Value.type == 5 ||
start.Value.type == 10) &&
d > instance.tileSize) // Don't skip turns
{
path.Add(TileToWorldPos(start.Value.pos));
}
}
// Debug.Log("Path: " + pathString);
return(path.ToArray());
}
public void LoadSector(Sector sector)
{
searchQueue.Clear();
for (int i = 0; i < AIData.entities.Count; i++)
{
searchQueue.Enqueue(AIData.entities[i]);
}
Vector2 center = new Vector2(sector.bounds.x + sector.bounds.w / 2, sector.bounds.y - sector.bounds.h / 2);
if (sector.platform) // Old data
{
BuildTiles(sector.platform, center);
}
else if (sector.platformData.Length > 0)
{
GameObject[] prefabs = new GameObject[prefabNames.Length];
for (int i = 0; i < prefabNames.Length; i++)
{
prefabs[i] = ResourceManager.GetAsset <GameObject>(prefabNames[i]);
}
tileSize = prefabs[0].GetComponent <SpriteRenderer>().bounds.size.x;
var cols = sector.bounds.w / (int)tileSize;
var rows = sector.bounds.h / (int)tileSize;
Offset = new Vector2
{
x = center.x - tileSize * (cols - 1) / 2F,
y = center.y + tileSize * (rows - 1) / 2F
};
Size = new Vector2Int
{
x = cols,
y = rows
};
directionMap = new short[cols, rows];
for (int i = 0; i < cols; i++)
{
for (int j = 0; j < rows; j++)
{
directionMap[i, j] = -1;
}
}
// Assemble platforms from tile prefabs
sector.platforms = new GroundPlatform[sector.platformData.Length];
for (int i = 0; i < sector.platformData.Length; i++)
{
var plat = new GroundPlatform(sector.platformData[i], prefabs, this);
sector.platforms[i] = plat;
}
groundPlatforms = sector.platforms;
// Create the direction map
for (int i = 0; i < groundPlatforms.Length; i++)
{
for (int j = 0; j < groundPlatforms[i].tiles.Count; j++)
{
GroundPlatform.Tile t = groundPlatforms[i].tiles[j];
if (t.pos.x >= cols || t.pos.y >= rows || t.pos.x < 0 || t.pos.y < 0)
{
Debug.LogWarning($"Invalid tile position: { t.pos } Bounds: {cols}, {rows}");
continue;
}
directionMap[t.pos.x, t.pos.y] = GroundPlatform.GetPlatformOpenings(t);
}
}
// Direction map debug
string str = "";
for (int j = 0; j < rows; j++)
{
for (int i = 0; i < cols; i++)
{
str += directionMap[i, j].ToString().PadLeft(2, '0') + ' ';
}
str += '\n';
}
}
}