private void findAdjacentSectors(PathFindingTile curTile)
{
closedSet.Add(curTile);
adjacentList.Clear();
int minX = (curTile.index.x - 1) < 0 ? 0 : (curTile.index.x - 1);
int maxX = (curTile.index.x + 1) >= tile_count.x ? tile_count.x - 1 : (curTile.index.x + 1);
int minY = (curTile.index.y - 1) < 0 ? 0 : (curTile.index.y - 1);
int maxY = (curTile.index.y + 1) >= tile_count.y ? tile_count.y - 1 : (curTile.index.y + 1);
for (int y = minY; y <= maxY; ++y)
{
for (int x = minX; x <= maxX; ++x)
{
if (true == tiles[y, x].has_obstacle) // 장애물이 존재해서 못가는 곳이면
{
continue;
}
if (true == closedSet.Contains(tiles[y, x]))
{
continue;
}
if (null == tiles[y, x].parent)
{
tiles[y, x].parent = curTile;
tiles[y, x].CalculateCost(this.targetIndex);
}
else
{
PathFindingTile tile = new PathFindingTile();
tile.index = tiles[y, x].index;
tile.parent = curTile;
tile.CalculateCost(this.targetIndex);
if (tile.f < tiles[y, x].f)
{
tiles[y, x].f = tile.f;
tiles[y, x].g = tile.g;
tiles[y, x].h = tile.h;
tiles[y, x].h = tile.h;
tiles[y, x].parent = tile.parent;
}
}
adjacentList.Add(tiles[y, x]);
}
}
}
private PathFindingTile GetMinFSectorFromOpenSet()
{
PathFindingTile curTile = openSet.First <PathFindingTile>();
int minFCost = curTile.f;
foreach (var tile in openSet)
{
if (tile.f < minFCost)
{
curTile = tile;
minFCost = tile.f;
}
}
openSet.Remove(curTile);
return(curTile);
}
public bool DoPathFinding()
{
Vector2 pos = player.transform.position;
startIndex = ChangeWorldPointToTileIndex(pos);
if (startIndex == targetIndex) // 찾은 경우
{
return(true);
}
openSet.Add(tiles[startIndex.y, startIndex.x]);
PathFindingTile curTile = null;
for (; ;)
{
if (openSet.Count == 0) // 없는 경우.
{
return(false);
}
curTile = GetMinFSectorFromOpenSet();
findAdjacentSectors(curTile);
if (adjacentList.Count == 0)
{
continue;
}
foreach (var tile in adjacentList)
{
if (tile == tiles[targetIndex.y, targetIndex.x])
{
curTile = tile;
return(true);
}
if (false == openSet.Contains(tile))
{
openSet.Add(tile);
}
}
}
}
public void Awake()
{
base_position = transform.parent.position;
player = GameObject.Find("MainPlayer");
collider2d = GetComponent <BoxCollider2D>();
openSet = new HashSet <PathFindingTile>();
closedSet = new HashSet <PathFindingTile>();
adjacentList = new List <PathFindingTile>();
Vector2 parent_position = transform.parent.position;
collider2d.enabled = false;
tiles = new PathFindingTile[tile_count.y, tile_count.x];
for (int y = 0; y < tile_count.y; ++y)
{
for (int x = 0; x < tile_count.x; ++x)
{
tiles[y, x] = new PathFindingTile();
tiles[y, x].map = this;
tiles[y, x].index.y = y;
tiles[y, x].index.x = x;
tiles[y, x].position.x = parent_position.x + (x * tile_size.x) + (tile_size.x / 2);
tiles[y, x].position.y = parent_position.y - ((y * tile_size.y) + (tile_size.y / 2));
RaycastHit2D hit = Physics2D.Raycast(tiles[y, x].position, Vector2.zero, 0f);
if (hit.collider != null)
{
//Debug.Log($" {hit.collider.name}: parent : {transform.parent.name}, tiles[{y}, {x}] obstacle position y: { tiles[y, x].position.y}, x:{tiles[y, x].position.x }");
tiles[y, x].has_obstacle = true;
}
else
{
tiles[y, x].has_obstacle = false;
}
}
}
collider2d.enabled = true;
}
public void Update()
{
if (Input.GetMouseButtonDown(1) && Input.GetKey(KeyCode.F))
{
Vector2 pos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
targetIndex = ChangeWorldPointToTileIndex(pos);
//Debug.Log($" mouse screen position : { Input.mousePosition }");
//Debug.Log($" mouse world position : { pos } ");
//Debug.Log($" tile idx y: { targetIndex.y } x: { targetIndex.x } ");
//Debug.Log($" player pos y: { player.transform.position.y } x: {player.transform.position.x } ");
DoPathFinding();
PathFindingTile curTile = tiles[targetIndex.y, targetIndex.x];
while (curTile.parent != null)
{
Debug.Log($"curTile ({ curTile.index.y }, { curTile.index.x }) : position : { curTile.position.y }, { curTile.position.x } ");
curTile = curTile.parent;
}
}
}