bool WalkHoneycomb(int2 vend, Vector3 endPos, List <SearchNode> search, BT.BinaryTree unsearch)
{
int count = 0;
while (true)
{
SearchNode node = (SearchNode)unsearch.Pop();
if (node == null)
{
return(false);
}
//Debug.Log(node.v.x + " " + node.v.y);
search.Add(node);
if (node.v.Equal(vend))
{
return(true);
}
int current = navData[Int2_Index(node.v)] & 0x3f;
int2[] varray = node.v.Neighbour();
int newchild = 0;
for (int i = 0; i < varray.Length; i++)
{
if (!IsIndexValid(varray[i]))
{
continue;
}
if (!IsIndexWalkable(varray[i]))
{
continue;
}
int by = navData[Int2_Index(varray[i])] & 0x3f;
float fHeightOffset = Mathf.Abs(by - current) * LayerHeight;
if (fHeightOffset > 0.5f)
{
continue;
}
SearchNode n = NewSearchNode(varray[i], endPos);
n.SetParent(node, fScale);
count++;
//Debug.Log(count);
newchild++;
unsearch.Push(n.weight(), n);
MarkSearched(n);
}
//Debug.Log("Add Node " + newchild);
}
return(false);
}
public Caclculator(Node <string> rootNode)
{
BinaryTree = new BinaryTree <string>(Visting);
BinaryTree.RootNode = rootNode;
Stack = new Stack <string>();
}
bool AStar(Vector3 begin, Vector3 end, out List <Vector3> path)
{
path = null;
if (navData == null)
{
return(false);
}
int2 vbegin = new int2();
int2 vend = new int2();
if (!GetIndex(begin, ref vbegin) || !GetIndex(end, ref vend))
{
return(false);
}
if (!IsIndexWalkable(vbegin) || !IsIndexWalkable(vend))
{
return(false);
}
//List<SearchNode> lstUnSearch = new List<SearchNode>();
BT.BinaryTree lstUnSearch = new BT.BinaryTree();
SearchNode newNode = NewSearchNode(vbegin, end);
lstUnSearch.Push(newNode.weight(), newNode);
MarkSearched(newNode);
if (!WalkHoneycomb(vend, end, lstSearch, lstUnSearch))
{
return(false);
}
SearchNode node = lstSearch[lstSearch.Count - 1];
path = new List <Vector3>();
while (true)
{
path.Insert(0, node.p);
if (node.parent == null)
{
break;
}
else
{
node = node.parent;
}
}
foreach (SearchNode n in lstSearch)
{
UnMarkSearched(n);
}
lstSearch.Clear();
SearchNode no = (SearchNode)lstUnSearch.Pop();
while (true)
{
if (no == null)
{
break;
}
UnMarkSearched(no);
no = (SearchNode)lstUnSearch.Pop();
}
lstUnSearch.Clear();
return(true);
}
// Update is called once per frame
void Update()
{
if (SearchTest)
{
SearchTest = false;
//if(actor.actorType == ActorType.AT_Monster)
{
Hexagon.PathFinder.StaticWeightScale = StaticWeightScale;
Hexagon.PathFinder.DynamicWeightScale = DynamicWeightScale;
Hexagon.PathFinder.StraightWeightScale = StraightWeightScale;
Hexagon.PathFinder.HeuristicWeightScale = HeuristicWeightScale;
Hexagon.PathFinder.MiddlePointWeight = UseMiddlePointWeight;
foreach (GameObject o in lstObject)
{
GameObject.Destroy(o);
}
lstObject.Clear();
sdMainChar mc = sdGameLevel.instance.mainChar;
sdGameActor actor = GetComponent <sdGameActor>();
if (actor != null)
{
actor.UnInject(false);
}
mc.UnInject(false);
List <Hexagon.SearchNode> lstSearch = new List <Hexagon.SearchNode>();
BT.BinaryTree lstUnSearch = new BT.BinaryTree();
Hexagon.Manager.GetSingleton().DebugFindPath(transform.position, mc.transform.position, ref lstSearch, ref lstUnSearch);
mc.Inject(false);
if (actor != null)
{
actor.Inject(false);
}
Hexagon.SearchNode end = lstSearch[lstSearch.Count - 1];
for (int i = lstSearch.Count - 1; i >= 0; i--)
{
Hexagon.SearchNode n = lstSearch[i];
int type = 0;
if (n == end)
{
type = 2;
end = n.parent;
}
ushort tempHeight = Hexagon.Manager.GetSingleton().GetHeight(n.v);
Add(HexagonElement.NewElement(n.v, tempHeight, n.weight(), type));
}
Hexagon.SearchNode head = (Hexagon.SearchNode)lstUnSearch.Pop();
while (true)
{
if (head == null)
{
break;
}
ushort tempHeight = Hexagon.Manager.GetSingleton().GetHeight(head.v);
Add(HexagonElement.NewElement(head.v, tempHeight, head.weight(), 1));
head = (Hexagon.SearchNode)lstUnSearch.Pop();
}
}
}
}
