Vector3 GetPosition(Struct.DoubleIndex index)
{
Vector3 worldPosition = new Vector3(field.position.x + index.first, 0, field.position.z + index.second);
worldPosition += wallSize / 2;
return(worldPosition);
}
Vector3 TopLocation()
{
if (pathPoints == null || pathPoints.Count == 0)
{
return(targetLocation);
}
Struct.DoubleIndex nextPoint = pathPoints[pathPoints.Count - 1];
pathPoints.RemoveAt(pathPoints.Count - 1);
return(GetPosition(nextPoint));
}
public void SetDestination(Vector3 targetPosition)
{
Struct.DoubleIndex enemyIndex = new Struct.DoubleIndex(0, 0);
Struct.DoubleIndex targetIndex = new Struct.DoubleIndex(0, 0);
FindIndex(ref enemyIndex, gameObject.transform.position);
FindIndex(ref targetIndex, targetPosition);
char [,] movementMap = NavigationManager.Instance.movementMap;
char wallFlag = NavigationManager.Instance.wallFlag;
pathPoints = ShortestPathAlgorithms.Dfs(movementMap, enemyIndex, targetIndex, wallFlag);
targetLocation = gameObject.transform.position;
}
public void SetDestination(Vector3 targetPosition)
{
Struct.DoubleIndex enemyIndex = new Struct.DoubleIndex(0, 0);
Struct.DoubleIndex targetIndex = new Struct.DoubleIndex(0, 0);
FindIndex (ref enemyIndex, gameObject.transform.position);
FindIndex (ref targetIndex, targetPosition);
char [,] movementMap = NavigationManager.Instance.movementMap;
char wallFlag = NavigationManager.Instance.wallFlag;
pathPoints = ShortestPathAlgorithms.Dfs (movementMap, enemyIndex, targetIndex, wallFlag);
targetLocation = gameObject.transform.position;
}
public static List <Struct.DoubleIndex> Dfs(char [,] map, Struct.DoubleIndex current, Struct.DoubleIndex target, char wall, bool isNew = true)
{
if (isNew)
{
currentPath.Clear();
bestPath = null;
}
currentPath.Insert(0, current.Clone());
if (current.Equals(target) && (bestPath == null || bestPath.Count > currentPath.Count))
{
bestPath = new List <Struct.DoubleIndex> (currentPath);
}
if (bestPath != null && bestPath.Count <= currentPath.Count)
{
return(bestPath);
}
for (int i = 0; i < directionsX.Length; i++)
{
current.first += directionsY[i];
current.second += directionsX[i];
if (!currentPath.Contains(current) && CanMove(map, current, wall))
{
Dfs(map, current, target, wall, false);
}
current.first -= directionsY[i];
current.second -= directionsX[i];
}
currentPath.RemoveAt(0);
return(bestPath);
}
static bool CanMove(char [,] map, Struct.DoubleIndex index, char wall)
{
return(index.first >= 0 && index.second >= 0 &&
index.first < map.GetLength(0) && index.second < map.GetLength(1) &&
map[index.first, index.second] != wall);
}
void FindIndex(ref Struct.DoubleIndex index, Vector3 targetPosition)
{
index.first = Mathf.Abs((int)(field.position.x - targetPosition.x));
index.second = Mathf.Abs((int)(field.position.z - targetPosition.z));
}
