void Awake()
{
Neighbors = new GridNeighbors(this);
_gridParams = new PlayerParams();
_unitsMovingThrough = new List <UnitController>();
_bC = GetComponent <BoxCollider2D>();
var textObj = GameObject.FindGameObjectWithTag("test");
text = textObj.GetComponent <TextMeshProUGUI>();
}
public static Plane Init(string input, GridNeighbors <Seat> neighbors)
{
var chars = input.CharPixels();
var plane = new Plane(chars.Cols, chars.Rows);
var seats = chars.Where(p => p.Value == 'L').Select(p => p.Key);
plane.InitTiles(
locations: seats,
ctor: (id, location) => new Seat(id, location),
neighbors: neighbors);
return(plane);
}
// Use this for initialization
void Start()
{
actions = new Stack <ARAstarAction>();
outputPlan = new Dictionary <DefaultState, ARAstarNode>();
domainList = new List <PlanningDomainBase>();
domainList.Add(new ARAstarDomain());
planner = new ARAstarPlanner();
planner.init(ref domainList, 100);
planner.usingHeap = usingHeap;
startState = new ARAstarState(startObject.transform.position);
goalState = new ARAstarState(goalObject.transform.position);
prevGoalState = goalState;
DStartState = startState as DefaultState;
DGoalState = goalState as DefaultState;
neighborMap = new GridNeighbors();
}
/// <summary>Initializes tiles for a grid.</summary>
/// <typeparam name="T">
/// The type of tile.
/// </typeparam>
/// <param name="grid">
/// The grid to initialize tiles for.
/// </param>
/// <param name="locations">
/// The locations to initialize.
/// </param>
/// <param name="ctor">
/// The constructor to create the tiles with.
/// </param>
/// <param name="neighbors">
/// The function to determine the neighbors.
/// </param>
public static void InitTiles <T>(
this Grid <T> grid,
IEnumerable <Point> locations,
GridTileCtor <T> ctor,
GridNeighbors <T> neighbors) where T : GridTile <T>
{
Guard.NotNull(grid, nameof(grid));
Guard.NotNull(locations, nameof(locations));
Guard.NotNull(ctor, nameof(ctor));
Guard.NotNull(neighbors, nameof(neighbors));
int id = 0;
foreach (var location in locations)
{
grid[location] = ctor(id++, location);
}
foreach (var tile in grid.Tiles)
{
tile.Neighbors.AddRange(neighbors(grid, tile.Location).Select(loc => grid[loc]).Where(n => n is not null));
}
}
