private void Awake()
{
//initialize reference to self
self = this;
visualizer = GetComponent <Pathfinding_Visualizer>();
grid = new Node[widthSize, heightSize, widthSize];
for (int x = 0; x < widthSize; x++)
{
for (int y = 0; y < heightSize; y++)
{
for (int z = 0; z < widthSize; z++)
{
grid[x, y, z] = new Node(x, y, z); //later zou ik de nodes mogelijk kunnen resetten
}
}
}
}
private void Awake()
{
pathfinding = (PathFinding)target;
pathVisualizer = pathfinding.GetComponent <Pathfinding_Visualizer>();
}
//bugs
//when out of bounds, will travel to last known destination
//when out of range, will repeat same checks and slow down game
//bake is raar met specifieke objecten
//z werkt niet goed met pathfinding
private IEnumerator CalculatePath(Vector3 position, Callable callable) //omhoog / omlaag moet ook werken. hiervoor moet schuin gaan kunnen
{
PathFinding.Node destination = p.GetNodeFromVector(position);
//pathfinding tools
open = new List <Node>();
closed = new List <PathFinding.Node>();
Pathfinding_Visualizer pV = PathFinding.visualizer;
PathFinding.Node start = p.GetNodeFromVector(transform.position);
PathFinding.Node reference = start;
int nodesBetween = 0;
int y;
if (start != null)
{
while (nodesBetween < maxNodesBetweenGroundAndTarget)
{
y = reference.y - nodesBetween;
if (!(y > 0 && y < p.grid.GetLength(1)))
{
nodesBetween++;
continue;
}
reference = p.grid[start.x, y, start.z];
nodesBetween++;
if (reference.filled && reference.bakeType == PathFinding.BakeType.Object)
{
break;
}
}
if (start.filled)
{
open.Add(new Node(reference));
}
else
{
Debug.Log("There is nothing walkable around the start point.");
}
}
else
{
Debug.Log("Currently not in a walkable area, unable to create a path.");
}
if (start != null)
{
reference = destination;
nodesBetween = -maxNodesBetweenGroundAndTargetReverse;
y = 0;
if (destination != null)
{
while (nodesBetween < maxNodesBetweenGroundAndTarget)
{
y = reference.y - nodesBetween;
if (!(y > 0 && y < p.grid.GetLength(1)))
{
nodesBetween++;
continue;
}
reference = p.grid[start.x, y, start.z]; //BUG
nodesBetween++;
if (reference.filled && reference.bakeType == PathFinding.BakeType.Object)
{
break;
}
}
}
}
//cost calculation
if (start != null)
{
origin = new Vector3(start.x, start.y, start.z);
}
if (destination != null)
{
dest = new Vector3(destination.x, destination.y, destination.z);
}
int checks = 0;
//main loop
if (destination != null)
{
while (open.Count > 0 && closed.Count < maxNodesCheckable) //hij gaat nu via het gevulde een pad zoeken ipv bovenop het pad
{
open.Sort();
PathFinding.Node node;
node = open[0].node;
if (closed.Contains(node))
{
open.RemoveAt(0);
continue;
}
if (p.visualize)
{
//in dit geval weet je al dat +1 bestaat omdat dat een check gaat worden
pV.ChangeColorGridPart(p.grid[node.x, node.y + 1, node.z], Color.green);
}
checks++;
if (checks >= checksPerFrame)
{
checks = 0;
yield return(null);
}
adjecentNodes = new List <Node>();
nodeToCheck = open[0];
n = nodeToCheck.node;
//check if destination
if (Vector3.Distance(dest, new Vector3(n.x, n.y, n.z)) <= stoppingNodeDistance)
{
break;
}
open.RemoveAt(0);
closed.Add(nodeToCheck.node);
//front
PrepareNode(n.x, n.y, n.z + 1);
//back
PrepareNode(n.x, n.y, n.z - 1);
//right
PrepareNode(n.x + 1, n.y, n.z);
//left
PrepareNode(n.x - 1, n.y, n.z);
if (!_2d)
{
//top checks
PrepareNode(n.x, n.y + 1, n.z + 1);
PrepareNode(n.x + 1, n.y + 1, n.z + 1);
PrepareNode(n.x + 1, n.y + 1, n.z);
PrepareNode(n.x + 1, n.y + 1, n.z - 1);
PrepareNode(n.x, n.y + 1, n.z - 1);
PrepareNode(n.x - 1, n.y + 1, n.z - 1);
PrepareNode(n.x - 1, n.y + 1, n.z);
PrepareNode(n.x - 1, n.y + 1, n.z + 1);
//bottom checks
PrepareNode(n.x, n.y - 1, n.z + 1);
PrepareNode(n.x + 1, n.y - 1, n.z + 1);
PrepareNode(n.x + 1, n.y - 1, n.z);
PrepareNode(n.x + 1, n.y - 1, n.z - 1);
PrepareNode(n.x, n.y - 1, n.z - 1);
PrepareNode(n.x - 1, n.y - 1, n.z - 1);
PrepareNode(n.x - 1, n.y - 1, n.z);
PrepareNode(n.x - 1, n.y - 1, n.z + 1);
}
foreach (Node _node in adjecentNodes)
{
open.Add(_node);
}
}
}
//check if path has been found
//if curnode != null
//if curnode == destination
//convert everything to a vector3 list
List <Vector3> _path = new List <Vector3>();
Node curNode;
Vector3 pos;
if (open.Count > 0)
{
curNode = open[0];
open.RemoveAt(0);
while (curNode.parent != null)
{
//convert
pos = p.GetVectorFromNode(curNode.node);
pos.y += p.heightSizeNode;
if (p.visualize)
{
pV.ChangeColorGridPart(curNode.node, Color.red);
}
_path.Add(pos);
curNode = curNode.parent;
}
_path.Add(p.GetVectorFromNode(curNode.node));
}
calculate = null;
if (_path.Count == 0)
{
Debug.Log("No path could be found.");
}
if (callable != null)
{
callable(_path);
}
}
private void Awake()
{
visualizer = GetComponent <Pathfinding_Visualizer>();
Bake();
}
