public List <LFGridNode> GetNeighbours(LFGridNode node)
{
List <LFGridNode> neighbours = new List <LFGridNode> ();
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
if ((x == 0 && y == 0) || (x == 1 && y == 1) || (x == -1 && y == -1) || (x == -1 && y == 1) || (x == 1 && y == -1))
{
continue;
}
int checkX = node.GridX + x;
int checkY = node.GridY + y;
if (checkX >= 0 && checkX < _gridSizeX && checkY >= 0 && checkY < _gridSizeY)
{
neighbours.Add(_grid [checkX, checkY]);
}
}
}
return(neighbours);
}
private List <LFGridNode> FindNodePath(LFGridNode startNode, LFGridNode targetNode)
{
List <LFGridNode> openSet = new List <LFGridNode> ();
HashSet <LFGridNode> closeSet = new HashSet <LFGridNode> ();
openSet.Add(startNode);
while (openSet.Count > 0)
{
LFGridNode currentNode = openSet [0];
for (int i = 0; i < openSet.Count; i++)
{
if (openSet [i].FCost <= currentNode.FCost && openSet [i].HCost < currentNode.HCost)
{
currentNode = openSet [i];
}
}
openSet.Remove(currentNode);
closeSet.Add(currentNode);
if (currentNode == targetNode)
{
List <LFGridNode> path = RetracePath(startNode, targetNode);
return(path);
}
List <LFGridNode> neighbours = _grid.GetNeighbours(currentNode);
foreach (LFGridNode neighbour in neighbours)
{
if (!neighbour.IsCanWalk || closeSet.Contains(neighbour))
{
continue;
}
int newMoveCostToNeighbour = currentNode.GCost + GetNodeDistance(currentNode, neighbour);
if (newMoveCostToNeighbour < neighbour.GCost || !openSet.Contains(neighbour))
{
neighbour.GCost = newMoveCostToNeighbour;
neighbour.HCost = GetNodeDistance(neighbour, targetNode);
neighbour.ParentNode = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
List <LFGridNode> emptyPath = new List <LFGridNode>();
emptyPath.Add(startNode);
return(emptyPath);
}
public List <LFGridNode> FindPath(Vector3 startPos, Vector3 targetPos)
{
LFGridNode startNode = _grid.GridNodeFromWorldPosition(startPos);
LFGridNode targetNode = _grid.GridNodeFromWorldPosition(targetPos);
return(FindNodePath(startNode, targetNode));
}
public List <LFGridNode> RandomNodePath(Vector3 startPos)
{
LFGridNode startNode = _grid.GridNodeFromWorldPosition(startPos);
LFGridNode targetNode = _grid.GridNodeFromWorldPosition(_labyrinth.RandomFreeNodeWithOutPosition(startPos).WorldPosition);
return(FindNodePath(startNode, targetNode));
}
// Update is called once per frame
void Update()
{
if (_targetPosition != null && !EnemyOnTargetNode())
{
transform.position = Vector3.MoveTowards(transform.position, _targetPosition, speed * Time.deltaTime);
}
else
{
switch (_targetType)
{
case LFTargetType.player:
UpdatePath();
break;
default:
if ((_path.Count - 1) > _pathStepIndex)
{
_pathStepIndex += 1;
_targetNode = _path[_pathStepIndex];
_targetPosition = new Vector3(_targetNode.WorldPosition.x, _targetNode.WorldPosition.y, transform.position.z);
}
else
{
UpdatePath();
}
break;
}
}
UpdateSprite();
}
private void UpdatePath()
{
_path = pathFinder.RandomNodePath(transform.position);
_pathStepIndex = 0;
if (_path != null && _path.Count > 0)
{
_targetNode = _path[_pathStepIndex];
_targetPosition = new Vector3(_targetNode.WorldPosition.x, _targetNode.WorldPosition.y, transform.position.z);
}
}
private int GetNodeDistance(LFGridNode node0, LFGridNode node1)
{
int distX = Mathf.Abs(node0.GridX - node1.GridX);
int distY = Mathf.Abs(node0.GridY - node1.GridY);
if (distX > distY)
{
return(14 * distY + 10 * (distX - distY));
}
return(14 * distX + 10 * (distY - distX));
}
private List <LFGridNode> RetracePath(LFGridNode startNode, LFGridNode endNode)
{
List <LFGridNode> path = new List <LFGridNode> ();
LFGridNode currentNode = endNode;
while (currentNode != startNode)
{
path.Add(currentNode);
currentNode = currentNode.ParentNode;
}
path.Reverse();
return(path);
}
private void InitGrid()
{
_grid = new LFGridNode[_gridSizeX, _gridSizeY];
Vector3 leftBottomCorner = transform.position - Vector3.right * gridWorldSize.x / 2 - Vector3.up * gridWorldSize.y / 2;
for (int x = 0; x < _gridSizeX; x++)
{
for (int y = 0; y < _gridSizeY; y++)
{
Vector3 worldPoint = leftBottomCorner + Vector3.right * (x * _nodeDiameter + nodeRadius) + Vector3.up * (y * _nodeDiameter + nodeRadius);
bool isCanWalk = !(Physics.CheckSphere(worldPoint, nodeRadius, wallMask));
_grid[x, y] = new LFGridNode(isCanWalk, worldPoint, x, y, _nodeDiameter);
}
}
}
// Update is called once per frame
void Update()
{
if (_targetPosition != null && !EnemyOnTargetNode())
{
transform.position = Vector3.MoveTowards(transform.position, _targetPosition, speedScaleFactor * speed * Time.deltaTime);
}
else
{
switch (_state)
{
case LFAnimalState.run:
_moveSpeed = speed * speedScaleFactor;
break;
default:
_moveSpeed = speed;
break;
}
if ((_path.Count - 1) > _pathStepIndex)
{
_pathStepIndex += 1;
_targetNode = _path[_pathStepIndex];
_targetPosition = new Vector3(_targetNode.WorldPosition.x, _targetNode.WorldPosition.y, transform.position.z);
}
else
{
UpdatePath();
}
}
UpdateSprite();
if (_state == LFAnimalState.run && _timeRun <= 0)
{
_state = LFAnimalState.walk;
_timeRun = runTime;
}
else if (_state == LFAnimalState.run && _timeRun > 0)
{
_timeRun -= Time.deltaTime;
}
}
private void UpdatePath()
{
switch (_targetType)
{
case LFTargetType.player:
_path = pathFinder.FindPath(transform.position, _player.position);
_pathStepIndex = 0;
break;
default:
_path = pathFinder.RandomNodePath(transform.position);
_pathStepIndex = 0;
break;
}
if (_path != null && _path.Count > 0)
{
_targetNode = _path[_pathStepIndex];
_targetPosition = new Vector3(_targetNode.WorldPosition.x, _targetNode.WorldPosition.y, transform.position.z);
}
}