public override void LateUpdate()
{
targetPath.Clear();
if (Target == null)
{
return;
}
Graph <Vec2i> graph;
if ((graph = MapManager.CurrentNavigationMap()?.CacheInstance()) == null)
{
return;
}
Vec2i goal = Target.position;
if (Vec2i.Heuristic(goal, transform.position) == 1)
{
targetPath.Add(goal);
return;
}
Vec2i current = null;
Vec2i start = this.transform.position;
PriorityQueue <Vec2i> frontier = new PriorityQueue <Vec2i>();
frontier.Enqueue(start, 0.0);
Dictionary <Vec2i, Vec2i> cameFrom = new Dictionary <Vec2i, Vec2i>();
Dictionary <Vec2i, double> costSoFar = new Dictionary <Vec2i, double>(); // Movement Costs.
cameFrom[start] = null;
costSoFar[start] = 0; // Movement Costs.
while (frontier.Count() != 0)
{
current = frontier.Dequeue();
if (current == goal)
{
break;
}
if (graph.GetEdges(current) != null)
{
foreach (Vec2i next in graph.GetEdges(current))
{
if (next == null)
{
continue;
}
double newCost = costSoFar[current] + 1; // Movement Costs.
//If the cost is greater then 50, then the path is too long already and it continues.
if (newCost > 50)
{
continue;
}
GameObject nextGo = map.PeekObject(next);
if (nextGo == null || next == goal || nextGo.GetComponent <Door>() != null)
{
if (!cameFrom.ContainsValue(next) || newCost < costSoFar[next])
{
costSoFar[next] = newCost; // Movement Costs.
double priority = newCost + Vec2i.Heuristic(goal, next);
frontier.Enqueue(next, priority);
cameFrom[next] = current;
}
}
}
}
}
bool isPathGood = true;
if (goal != null)
{
current = goal;
//List<Vec2i> path = new List<Vec2i>();
while (current != start)
{
targetPath.Add(current);
if (!cameFrom.ContainsKey(current))
{
isPathGood = false;
break;
}
else
{
current = cameFrom[current];
}
if (current != start && current != goal && (map.PeekObject(current) != null && map.PeekObject(current).GetComponent <Door>() == null))
{
isPathGood = false;
break;
}
}
if (!isPathGood)
{
targetPath.Clear();
}
/*if (isPathGood)
* {
* Camera camera = Camera.CacheInstance();
* int halfWidth = camera.width / 2;
* int halfHeight = camera.height / 2;
*
* Player player = Player.MainPlayer();
* int playerX = player.transform.position.x;
* int playerY = player.transform.position.y;
*
* foreach (Vec2i v in path)
* {
* int x = v.x - playerX + halfWidth;
* int y = v.y - playerY + halfHeight;
* if (x < camera.width && y < camera.height)
* ConsoleUI.Write(x, y, ".", Color.Teal);
* }
* }*/
}
return;
}
public override void Start()
{
map = MapManager.CurrentMap();
return;
}
