public void ReturnToPatrol()
{
s_pathNode nod = s_ninjaloader.pathfind.FindPathNode(marchDirection[0]);
if (nod != null)
{
Tuple <List <s_pathNode>, float> nodes = s_ninjaloader.pathfind.PathFind(transform.position, nod);
path = nodes.Item1;
}
}
public override void WalkControl()
{
/*
* if (marchDirection.Count > 0)
* {
* terminalspd = terminalSpeedOrigin;
* s_pathNode nod = s_ninjaloader.pathfind.FindPathNode(marchDirection[marchPoint]);
* path = s_ninjaloader.pathfind.PathFind(transform.position, nod.position);
* if (path != null)
* {
* if (!CheckTargetDistance(nod.position, 10))
* {
* direction = LookAtTarget(nod.position);
* CHARACTER_STATE = CHARACTER_STATES.STATE_MOVING;
* }
* else
* {
* if (marchPoint == marchDirection.Count - 1)
* marchPoint = 0;
* else
* marchPoint++;
* }
* }
* }
*/
if (path == null)
{
path = new List <s_pathNode>();
for (int i = 0; i < marchDirection.Count; i++)
{
s_pathNode nod = s_ninjaloader.pathfind.FindPathNode(marchDirection[i]);
path.Add(nod);
}
}
else
{
if (path.Count == 0)
{
for (int i = 0; i < marchDirection.Count; i++)
{
s_pathNode nod = s_ninjaloader.pathfind.FindPathNode(marchDirection[i]);
path.Add(nod);
}
}
}
}
public s_pathNode FindNodeAtPosition(Vector2 pos)
{
s_pathNode returnNode = null;
float smallest = float.MaxValue;
for (int i = 0; i < nodes.Count; i++)
{
s_pathNode p = nodes[i];
Vector2 nodepos = new Vector2(p.position.x, p.position.y);
float dist = Vector2.Distance(nodepos, pos);
if (dist < smallest)
{
returnNode = p;
smallest = dist;
}
}
return(returnNode);
}
public override void SetTileMap(s_map mapdat)
{
pathNodes.Clear();
debugNodes.Clear();
s_map mp = mapdat;
List <s_map.s_block> tile = mp.graphicTiles;
List <s_map.s_block> tileMid = mp.graphicTilesMiddle;
List <s_map.s_block> tileTop = mp.graphicTilesTop;
List <s_map.s_tileobj> coll = mp.tilesdata;
// base.SetTileMap(mapdat);
/*
*/
foreach (s_map.s_block b in tile)
{
tm.SetTile(new Vector3Int((int)b.position.x / 20, (int)b.position.y / 20, 0), tilesNew.Find(ti => ti.name == b.sprite));
}
foreach (s_map.s_block b in tileMid)
{
tm2.SetTile(new Vector3Int((int)b.position.x / 20, (int)b.position.y / 20, 0), tilesNew.Find(ti => ti.name == b.sprite));
}
foreach (s_map.s_block b in tileTop)
{
tm3.SetTile(new Vector3Int((int)b.position.x / 20, (int)b.position.y / 20, 0), tilesNew.Find(ti => ti.name == b.sprite));
}
int nodeID = 0;
for (int i = 0; i < coll.Count; i++)
{
s_map.s_tileobj b = coll[i];
string tilename = "";
COLLISION_T tileType = (COLLISION_T)b.enumthing;
Tile t = null;
s_pathNode nod2 = new s_pathNode();
GameObject go = null;
if (InEditor)
{
switch (b.TYPENAME)
{
case "teleport_object":
case "keyObj":
go = Instantiate(
FindOBJ(b.TYPENAME),
new Vector3(b.pos_x, b.pos_y),
Quaternion.identity);
if (go != null)
{
go.transform.SetParent(tilesObj.transform);
go.name = b.name;
}
break;
case "Node":
go = Instantiate(FindOBJ(b.TYPENAME),
new Vector3(b.pos_x, b.pos_y),
Quaternion.identity);
if (go != null)
{
go.transform.SetParent(tilesObj.transform);
go.name = b.name;
}
o_nodeobj nod = go.GetComponent <o_nodeobj>();
nod.nodeID = nodeID;
nod.name = "Node_" + nod.nodeID;
nod.transform.position = new Vector3(b.pos_x, b.pos_y);
nod.transform.SetParent(tilesObj.transform);
debugNodes.Add(nod);
/*
* o_nodeobj nod = go.GetComponent<o_nodeobj>();
* nod.nodeID = nodeID;
* nod.name = "Node_" + nod.nodeID;
* debugNodes.Add(nod);
*/
nod2 = new s_pathNode();
nod2.position = new Vector2(b.pos_x, b.pos_y);
if (b.CustomTypes.Find(x => x.name == "nodeID").name == "")
{
nod2.id = nodeID;
}
else
{
nod2.id = b.CustomTypes.Find(x => x.name == "nodeID").type;
}
pathNodes.Add(nod2);
nodeID++;
break;
}
/*
* switch (tileType)
* {
* case COLLISION_T.WALL:
* if (b.TYPENAME == "teleport_object")
* continue;
* colmp.SetTile(new Vector3Int(b.pos_x / 20, b.pos_y / 20, 0), collisionTile);
* break;
* }
*/
}
else
{
switch (b.TYPENAME)
{
case "teleport_object":
continue;
case "keyObj":
SpawnObject <o_generic>("keyObj", new Vector2(b.pos_x, b.pos_y), Quaternion.identity);
continue;
case "Node":
nod2 = new s_pathNode();
nod2.position = new Vector2(b.pos_x, b.pos_y);
nod2.id = nodeID;
pathNodes.Add(nod2);
nodeID++;
break;
}
}
tilename = b.name;
if (tilename != "")
{
colmp.SetTile(new Vector3Int(b.pos_x / 20, b.pos_y / 20, 0), collisionList.Find(ti => ti.name == tilename));
}
else
{
colmp.SetTile(new Vector3Int(b.pos_x / 20, b.pos_y / 20, 0), t);
}
}
for (int i = 0; i < pathNodes.Count; i++)
{
s_pathNode p = pathNodes[i];
List <s_pathNode> nbrs = new List <s_pathNode>();
List <int> GetNeighbours = new List <int>();
s_map.s_tileobj t = coll[p.id];
//Gets all the neighbours
foreach (s_map.s_customType no in t.CustomTypes)
{
//Find all the custom values with "node" which resemble the neighbours
if (no.name == "node")
{
s_pathNode path = pathNodes.Find(x => x.id == no.type);
nbrs.Add(path);
}
}
if (InEditor)
{
o_nodeobj currentNode = debugNodes.Find(x => x.nodeID == p.id);
foreach (s_pathNode n in nbrs)
{
o_nodeobj nod = debugNodes.Find(x => x.nodeID == n.id);
if (nod != null)
{
currentNode.nieghbours.Add(nod);
GetNeighbours.Add(n.id);
//nod.nieghbours.Add(currentNode);
if (!currentNode.nieghbours.Find(x => nod))
{
}
}
}
foreach (s_pathNode n in nbrs)
{
GetNeighbours.Add(n.id);
}
p = new s_pathNode(p.id, new Vector2(p.position.x, p.position.y), GetNeighbours);
pathNodes[i] = p;
}
else
{
foreach (s_pathNode n in nbrs)
{
GetNeighbours.Add(n.id);
}
p = new s_pathNode(p.id, new Vector2(p.position.x, p.position.y), GetNeighbours);
pathNodes[i] = p;
}
}
pathfind = GetComponent <s_pathfind>();
pathfind.SetNodes(ref pathNodes);
}
public Tuple <List <s_pathNode>, float> PathFind(Vector2 start, Vector2 end)
{
ResetNodes();
int round = 0;
List <s_pathNode> openList = new List <s_pathNode>();
HashSet <s_pathNode> closedList = new HashSet <s_pathNode>();
s_pathNode startNode = FindNodeAtPosition(start);
s_pathNode goal = FindNodeAtPosition(end);
if (goal == null)
{
return(null);
}
goal.isgoal = true;
openList.Add(startNode);
while (openList.Count > 0)
{
if (round == 200)
{
return(null);
}
s_pathNode current = openList[0];
for (int i = 1; i < openList.Count; i++)
{
s_pathNode pa = openList[i];
if (pa.f_cost < current.f_cost)
{
//FindPathNode(pa.id)
current = FindNodeAtPosition(pa.position);
}
}
if (current.id == goal.id)
{
List <s_pathNode> pathList = new List <s_pathNode>();
s_pathNode path = goal;
int l = 0;
while (path != startNode)
{
path.list = l;
pathList.Add(path);
l++;
path = path.parent;
}
pathList.Reverse();
return(new Tuple <List <s_pathNode>, float>(pathList, current.f_cost));
}
openList.Remove(current);
closedList.Add(current);
/*
* if (current.neighbours == null)
* continue;
*/
foreach (int n in current.neighbours)
{
s_pathNode no = nodes.Find(x => x.id == n);
float g_cost = current.g_cost + Vector2.Distance(no.position, current.position);
float h_cost = current.h_cost + Vector2.Distance(no.position, goal.position);
if (closedList.Contains(no))
{
continue;
}
if (!openList.Contains(no) || g_cost < no.g_cost)
{
no.g_cost = g_cost;
no.h_cost = h_cost;
no.parent = current;
if (!openList.Contains(no))
{
openList.Add(no);
}
}
}
round++;
}
return(null);
}
