public NodePathFinderPlatformer getEdge(NodePathFinderPlatformer node)
{
float r = Random.value;
if (r < 0.3f)
{
// right
while (node.right != null)
{
node = node.right;
}
return(node);
}
else if (r < 0.3f)
{
// left
while (node.left != null)
{
node = node.left;
}
return(node);
}
else
{
if (node.left != null)
{
return(node.left);
}
else if (node.right != null)
{
return(node.right);
}
return(node);
}
}
public NodePathFinderPlatformer bfs(NodePathFinderPlatformer node, NodePathFinderPlatformer target)
{
// return last node before reaching target
if (node == target)
{
return(target);
}
List <NodePathFinderPlatformer> level = new List <NodePathFinderPlatformer>();
HashSet <NodePathFinderPlatformer> vis = new HashSet <NodePathFinderPlatformer>();
Queue <NodePathFinderPlatformer> q = new Queue <NodePathFinderPlatformer>();
q.Enqueue(node);
vis.Add(node);
while (q.Count > 0)
{
NodePathFinderPlatformer u = q.Peek();
q.Dequeue();
List <NodePathFinderPlatformer> adj = u.getAdjNodes();
foreach (NodePathFinderPlatformer v in adj)
{
if (v == target)
{
return(u);
}
if (!vis.Contains(v))
{
vis.Add(v);
q.Enqueue(v);
}
}
}
return(null);
}
public bool isOnSamePlatform(NodePathFinderPlatformer a, NodePathFinderPlatformer b)
{
Queue <NodePathFinderPlatformer> q = new Queue <NodePathFinderPlatformer>();
HashSet <NodePathFinderPlatformer> vis = new HashSet <NodePathFinderPlatformer>();
q.Enqueue(a);
while (q.Count > 0)
{
NodePathFinderPlatformer u = q.Peek();
q.Dequeue();
vis.Add(u);
if (u == b)
{
return(true);
}
if (u.left != null && !vis.Contains(u.left))
{
q.Enqueue(u.left);
}
if (u.right != null && !vis.Contains(u.right))
{
q.Enqueue(u.right);
}
}
return(false);
}
public NodePathFinderPlatformer findClosest(Vector3 pos)
{
NodePathFinderPlatformer closest = null;
float minDiff = 99999999f;
float targetY = pos.y;
int idx = xToCol(pos.x);
// Debug.Log($"find closest {idx}");
if (idx < 0 || idx > nodes.Count)
{
return(null);
}
foreach (NodePathFinderPlatformer node in nodes[idx])
{
// Debug.Log(node.transform.position.y);
// if (node.transform.position.y <= pos.y) return node;
float nodey = node.transform.position.y;
if (nodey > pos.y)
{
continue;
}
if (Mathf.Abs(nodey - targetY) < minDiff)
{
closest = node;
minDiff = Mathf.Abs(nodey - targetY);
}
}
if (closest != null)
{
return(closest);
}
return(closest);
}
public void GetOptimalPath(Enemy enemy, Transform target)
{
int idx = xToCol(transform.position.x);
NodePathFinderPlatformer dst = findClosest(target.position);
NodePathFinderPlatformer src = findClosest(enemy.transform.position);
if (dst == null || src == null)
{
enemy.BeIdle();
return;
}
// Debug.Log(dst.transform.position);
// Debug.Log(src.transform.position);
// find path
if (isOnSamePlatform(src, dst))
{
// Debug.Log("is on same platform");
if (target.position.x - enemy.transform.position.x > 0)
{
enemy.MoveRight();
}
else
{
enemy.MoveLeft();
}
return;
}
// NodePathFinderPlatformer jumpTarget = getEdge(dst);
// Vector2 jumpTerm = new Vector2(jumpTarget.transform.position.x, jumpTarget.transform.position.y);
// enemy.StartJumpThrough(jumpTerm + Vector2.up * 0.8f);
enemy.StartJumpThrough(target.position + Vector3.up * 1.0f + Vector3.right * (-0.5f + Random.value) * 3f);
// NodePathFinderPlatformer next = bfs(src, dst);
// // Debug.Log("next");
// // Debug.Log(next.transform.position);
// if (next == null) {
// enemy.BeIdle();
// } else if (next == src.jumpLeft) {
// enemy.Jump();
// enemy.MoveLeft();
// } else if (next == src.jumpRight) {
// enemy.Jump();
// enemy.MoveRight();
// } else if (next == src.left || next == src.fallLeft) {
// enemy.MoveLeft();
// } else if (next == src.right || next == src.fallRight) {
// enemy.MoveRight();
// }
}
public void AddFallNeighbors(NodePathFinderPlatformer node, int col_idx)
{
// Debug.Log("add fall neighbors");
if (col_idx > 0)
{
// left
if (node.left == null)
{
float y = node.transform.position.y;
float maxSmallerY = -9999999f;
NodePathFinderPlatformer found = null;
foreach (NodePathFinderPlatformer left in nodes[col_idx - 1])
{
if (maxSmallerY < left.pos.y && left.pos.y < y)
{
maxSmallerY = left.pos.y;
found = left;
}
}
node.fallLeft = found;
}
}
if (col_idx < nodes.Count - 1)
{
// right
if (node.right == null)
{
float y = node.transform.position.y;
float maxSmallerY = -9999999f;
NodePathFinderPlatformer found = null;
foreach (NodePathFinderPlatformer right in nodes[col_idx + 1])
{
if (maxSmallerY < right.pos.y && right.pos.y < y)
{
maxSmallerY = right.pos.y;
found = right;
}
}
node.fallRight = found;
}
}
}
public void AddJumpNeighbors()
{
Debug.Log("add jump neighbors");
for (int i = 0; i < nodes.Count; ++i)
{
foreach (NodePathFinderPlatformer node in nodes[i])
{
float dt = tileSize / moveSpeed;
int cnt = 0;
float t = dt;
float x0 = node.transform.position.x;
float y0 = node.transform.position.y;
float vy = jumpInitVerSpeed;
float vx = moveSpeed;
float y = y0;
// Debug.Log($"{dt} {x0} {y0} {vy} {vx} {y}");
while (y > bottomLeft.position.y - 100f)
{
if (cnt + i >= nodes.Count && cnt - i < 0)
{
break;
}
float lasty = y;
y = y0 + vy * t + 0.5f * gravity * t * t;
// Debug.Log($"{y - lasty} {y - y0}, t = {t}, {vx * t}, cnt = {cnt}, i = {i}");
if (y - lasty < 0) // falling downwards
{
if (node.jumpRight == null && i + cnt < nodes.Count)
{
// Debug.Log("jump right");
// jump right
float maxSmallerY = y;
NodePathFinderPlatformer foundRight = null;
foreach (NodePathFinderPlatformer leftNode in nodes[i + cnt])
{
float lefty = leftNode.transform.position.y;
// Debug.Log($"lefty = {lefty}");
// Debug.Log($"smallery = {maxSmallerY}, lasty = {lasty}, lefty = {lefty}");
if (maxSmallerY < lefty && lefty < lasty)
{
maxSmallerY = lefty;
foundRight = leftNode;
}
}
node.jumpRight = foundRight;
}
// jump left (symmetric)
if (node.jumpLeft == null && i - cnt >= 0)
{
// Debug.Log("jump left");
float maxSmallerY = y;
foreach (NodePathFinderPlatformer rightNode in nodes[i - cnt])
{
float righty = rightNode.transform.position.y;
// Debug.Log($"righty = {righty}");
// Debug.Log($"smallery = {maxSmallerY}, lasty = {lasty}, righty = {righty}");
if (maxSmallerY < righty && righty < lasty)
{
maxSmallerY = righty;
node.jumpLeft = rightNode;
}
}
}
}
t += dt;
++cnt;
}
}
}
}
public void GenerateGraph()
{
Debug.Log("generate graph");
float xlo = bottomLeft.position.x + tileSize / 2f;
float xhi = topRight.position.x;
float ylo = bottomLeft.position.y;
float yhi = topRight.position.y;
Debug.Log($"{xlo}, {xhi}, {ylo}, {yhi}");
bool isLastGround = false;
for (float x = xlo; x < xhi; x += tileSize)
{
List <NodePathFinderPlatformer> curCol = new List <NodePathFinderPlatformer>();
for (float y = ylo; y < yhi; y += minObstacleSize)
{
Vector2 pos = new Vector2(x, y);
if (!IsPosGround(pos))
{
if (isLastGround)
{
isLastGround = false;
float gndY = GetGroundY(x, y - minObstacleSize, y);
NodePathFinderPlatformer newNode = Instantiate(pfNode, transform);
newNode.transform.position = new Vector2(x, gndY);
if (nodes.Count > 0) // if not the first column
// check for neighbors on column to the left
// Debug.Log("check for neighbors");
{
List <NodePathFinderPlatformer> lastCol = nodes[nodes.Count - 1];
foreach (NodePathFinderPlatformer node in lastCol)
{
float diffy = Mathf.Abs(node.transform.position.y - newNode.transform.position.y);
// Debug.Log(diffy);
if (diffy < tileSize * 0.8f)
{
newNode.left = node;
node.right = newNode;
break;
}
}
}
curCol.Add(newNode);
}
}
else
{
isLastGround = true;
}
}
nodes.Add(curCol);
}
// add fall edge
for (int i = 0; i < nodes.Count; ++i)
{
foreach (NodePathFinderPlatformer node in nodes[i])
{
AddFallNeighbors(node, i);
}
}
// add jump edge
// AddJumpNeighbors();
}