private void benchmark(object parameter)
{
var benchmarkParameter = (BenchmarkParameter)parameter;
var grid = benchmarkParameter.grid;
float astarTime = 0;
float jpsTime = 0;
var stopwatch = new System.Diagnostics.Stopwatch();
var astar = new AStarSearch();
astar.showDebug = false;
var jps = new JumpPointSearch();
jps.showDebug = false;
var r = new System.Random(100);
var size = benchmarkParameter.grid.GetSize();
for (var i = 0; i < benchmarkParameter.iterations; i++)
{
Vector3Int start;
Vector3Int end;
do
{
start = new Vector3Int(r.Next(0, size.x), r.Next(0, size.y), 0);
end = new Vector3Int(r.Next(0, size.x), r.Next(0, size.y), 0);
} while (!grid.IsWalkable(start.x, start.y) || !grid.IsWalkable(end.x, end.y));
// Run A* Search
stopwatch.Restart();
if (astar.GetPath(grid, new Vector2Int(start.x, start.y), new Vector2Int(end.x, end.y)) == null)
{
Debug.Log("Astar didn't find path");
}
astarTime += stopwatch.ElapsedMilliseconds;
// Run Jump Point Search
stopwatch.Restart();
if (jps.GetPath(grid, new Vector2Int(start.x, start.y), new Vector2Int(end.x, end.y)) == null)
{
Debug.Log("JPS didn't find path");
}
jpsTime += stopwatch.ElapsedMilliseconds;
if (i % 100 == 0)
{
Debug.Log("Processed " + i + " iterations");
}
}
Debug.Log("Benchmark result (" + benchmarkParameter.iterations + " iterations): AStar took " + astarTime + "ms and JPS took " + jpsTime + "ms");
}
// Update is called once per frame
void Update()
{
if (Input.inputString == "f")
{
Tile tempStart = nwg.GetTileAtIndex((int)startSearch.x, (int)startSearch.y);
Tile tempEnd = nwg.GetTileAtIndex((int)endSearch.x, (int)endSearch.y);
JumpPointSearch.aStarSearch(tempStart, tempEnd);
}
//movement();
debugRays();
//randomRotation();
drawPath();
}
public List <Vector2> SetNewPath(Vector3 newDest)
{
List <Vector2> p;
Vector3 newDestCenterPos = CenterPosition(newDest);
Vector3 currCenterPos = CenterPosition(transform.position);
currDestCenterPosition = newDestCenterPos;
ClearPathMarker();
objPosPair = new Dictionary <Vector2, GameObject>();
p = JumpPointSearch.SearchPath(currCenterPos, newDestCenterPos);
DrawPath(p);
return(p);
}
void Start()
{
Vector3 sourceCenterPosition = CenterPosition(transform.position);
currDestCenterPosition = CenterPosition(bush.transform.position);
if (path == null || path.Count == 0)
{
path = JumpPointSearch.SearchPath(sourceCenterPosition, currDestCenterPosition);
DrawPath(path);
}
lastDestCenterPosition = currDestCenterPosition;
}
public void FindPath(bool astar)
{
DebugDrawer.Clear();
// Convert visible grid to memory grid
var grid = GridController.Ground;
var pathGrid = GridController.Path;
var sizeX = GridController.active.size.x;
var sizeY = GridController.active.size.y;
var memoryGrid = createGraph();
// Set grid weights
var start = new Vector2Int(-1, -1);
var end = new Vector2Int(-1, -1);
for (var x = 0; x < sizeX; x++)
{
for (var y = 0; y < sizeY; y++)
{
var pathTile = pathGrid.GetTile(new Vector3Int(x, y, 0));
if (pathTile != null)
{
if (pathTile == GridController.active.start)
{
start = new Vector2Int(x, y);
}
else if (pathTile == GridController.active.end)
{
end = new Vector2Int(x, y);
}
}
}
}
if (start.x == -1 || end.x == -1)
{
Debug.Log("Couldn't find any start or end position");
return;
}
List <Node> path;
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
if (astar)
{
var asearch = new AStarSearch();
sw.Start();
path = asearch.GetPath(memoryGrid, start, end);
UnityEngine.Debug.Log("A* Path - Path" + (path == null ? " not " : " ") + "found in : " + sw.ElapsedMilliseconds + " ms");
}
else
{
var jpsearch = new JumpPointSearch();
sw.Start();
path = jpsearch.GetPath(memoryGrid, start, end);
UnityEngine.Debug.Log("JPS Path - Path" + (path == null ? " not " : " ") + "found in : " + sw.ElapsedMilliseconds + " ms");
}
if (path != null)
{
foreach (var pathTile in path)
{
if (pathTile.x == start.x && pathTile.y == start.y)
{
continue;
}
if (pathTile.x == end.x && pathTile.y == end.y)
{
continue;
}
if (pathTile.parent != null)
{
DebugDrawer.Draw(new Vector2Int(pathTile.parent.x, pathTile.parent.y), new Vector2Int(pathTile.x, pathTile.y), Color.blue);
}
DebugDrawer.DrawCube(new Vector2Int(pathTile.x, pathTile.y), Vector2Int.one, Color.blue);
}
}
}
public JumpPointSearchOnTheCommand(JumpPointSearch search, Node start, Node end)
{
Start = start;
End = end;
MapAnalizer = search;
}
private BaseSearchAlgo GetAlgorithm()
{
BaseSearchAlgo algo = null;
switch (m_searchAlgo)
{
case SearchAlgo.A_Star:
algo = new AStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.Theta_Star:
algo = new ThetaStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.LazyTheta_Star:
algo = new LazyThetaStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BestFirstSearch:
algo = new BestFirstSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BreadthFirstSearch:
algo = new BreadthFirstSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.DijkstraSearch:
algo = new DijkstraSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.JPS:
algo = new JumpPointSearch(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.JPSPlus:
algo = new JPSPlus(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
case SearchAlgo.BiA_Star:
algo = new BiAStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime);
break;
#region Incremental
case SearchAlgo.D_Star:
algo = new DStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.FocussedD_Star:
algo = new FocussedDStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.LPA_Star:
algo = new LPAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
//algo = new LPAStar_Optimized(m_startNode, m_endNode, m_nodes, m_showTime);
break;
case SearchAlgo.DstarLite:
algo = new DStarLite(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.Path_AA_Star:
algo = new Path_AAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.Tree_AA_Star:
algo = new Tree_AAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
#endregion
#region Moving Target
case SearchAlgo.GAA_Star:
algo = new GAAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.GFRA_Star:
algo = new GFRAStar(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
case SearchAlgo.MT_DstarLite:
algo = new MT_DStarLite(m_startNode, m_goalNode, m_nodes, m_showTime);
break;
#endregion
case SearchAlgo.AnnotatedA_Star:
algo = new AnnotatedAStar(m_startNode, m_goalNode, m_nodes, m_weight, m_showTime, m_unitSize);
break;
default:
Debug.LogError($"No code for SearchAlgo={m_searchAlgo}");
break;
}
return(algo);
}
