private _2dPosition getClosetInfo(_2dPosition _from, _2dPosition to, eMapDirection _d)
{
if (_from.x <= 0 || _from.x >= navSize - 1 || to.x <= 0 || to.x >= navSize - 1)
{
behaviac.Debug.LogError("parameters of getClosetInfo() are illegal!");
return(null);
}
int newX = 0; int newY = 0;
switch (_d)
{
case eMapDirection.LEFT:
newX = _from.x - 1;
newY = _from.y;
break;
case eMapDirection.RIGHT:
newX = _from.x + 1;
newY = _from.y;
break;
case eMapDirection.TOP:
newX = _from.x;
newY = _from.y - 1;
break;
case eMapDirection.BOTTOM:
newX = _from.x;
newY = _from.y + 1;
break;
}
bool isWakable = GameLevelCommon.instance.isPointWakable(newX, newY, walkLevel);
if (isWakable)
{
_2dPosition n = new _2dPosition(newX, newY, _from);
n.G = _from.G + 1;
n.H = Mathf.Abs(to.x - n.x) + Mathf.Abs(to.y - n.y);
// substract overlap distance
if (to.x == n.x || to.y == n.y)
{
n.H -= 1;
}
n.F = n.H + n.G;
return(n);
}
else
{
return(null);
}
}
private static _2dPosition findFromList(ArrayList list_, _2dPosition t_)
{
_2dPosition kp = null;
for (int i = 0; i < list_.Count; ++i)
{
_2dPosition node_ = list_[i] as _2dPosition;
if (node_.x == t_.x && node_.y == t_.y)
{
kp = node_;
break;
}
}
return(kp);
}
private _2dPosition getLowestFFromOpen(out int index)
{
//todo: optimize
_2dPosition lowest = null;
int minF = int.MaxValue;
index = -1;
for (int i = 0; i < openArray.Count; ++i) // find lowest point of newest
{
_2dPosition t = openArray[i] as _2dPosition;
if (t.F <= minF)
{
index = i;
lowest = t;
minF = t.F;
}
//else
//{
// break;//need sorted list
//}
}
return(lowest);
}
public ArrayList pathFinding(int fromX, int fromY, int toX, int toY)
{
closeArray.Clear();
openArray.Clear();
_2dPosition from = new _2dPosition(fromX, fromY, null);
_2dPosition to = new _2dPosition(toX, toY, null);
// first, at from to close
openArray.Add(from);
_2dPosition destPoint = null;
do
{
int lowerestIndex = -1;
_2dPosition currentPoint = getLowestFFromOpen(out lowerestIndex);
closeArray.Add(currentPoint);
openArray.RemoveAt(lowerestIndex); // exception if lowerestIndex out of arraylist bound
if (currentPoint.x == to.x && currentPoint.y == to.y)
{
destPoint = currentPoint;
break; // find the answer
}
for (int j = 0; j < (int)eMapDirection.TOTAL; ++j)
{
_2dPosition newPoint = getClosetInfo(currentPoint, to, (eMapDirection)j);
if (newPoint != null)
{
_2dPosition oldPoint_ = findFromList(closeArray, newPoint);
if (oldPoint_ != null)
{
continue;
}
oldPoint_ = findFromList(openArray, newPoint);
if (oldPoint_ == null)
{
openArray.Add(newPoint); // important, the newest point must append to the end of array
}
else
{
// if already exsit,
if (oldPoint_.G > newPoint.G)
{
oldPoint_.G = newPoint.G;
oldPoint_.F = oldPoint_.G + oldPoint_.H;
oldPoint_.parent = currentPoint;
}
}
}
}
} while(openArray.Count > 0);
if (destPoint != null)
{
ArrayList result_ = new ArrayList();
_2dPosition node_ = destPoint;
while (node_ != null)
{
result_.Insert(0, node_);
node_ = node_.parent;
}
//behaviac.Debug.Log("Path point count : " + result_.Count.ToString());
return(result_);
}
return(null);
}
public _2dPosition(int x_, int y_, _2dPosition parent_)
{
x = x_; y = y_; parent = parent_;
}
public ArrayList pathFinding(int fromX, int fromY, int toX, int toY)
{
closeArray.Clear();
openArray.Clear();
_2dPosition from = new _2dPosition(fromX, fromY, null);
_2dPosition to = new _2dPosition(toX, toY, null);
// first, at from to close
openArray.Add(from);
_2dPosition destPoint = null;
do
{
int lowerestIndex = -1;
_2dPosition currentPoint = getLowestFFromOpen(out lowerestIndex);
closeArray.Add(currentPoint);
openArray.RemoveAt(lowerestIndex);// exception if lowerestIndex out of arraylist bound
if(currentPoint.x == to.x && currentPoint.y == to.y)
{
destPoint = currentPoint;
break; // find the answer
}
for(int j = 0; j < (int)eMapDirection.TOTAL; ++j)
{
_2dPosition newPoint = getClosetInfo(currentPoint, to, (eMapDirection)j);
if(newPoint != null)
{
_2dPosition oldPoint_ = findFromList(closeArray, newPoint);
if(oldPoint_ != null)
continue;
oldPoint_ = findFromList(openArray, newPoint);
if(oldPoint_ == null)
openArray.Add(newPoint); // important, the newest point must append to the end of array
else
{
// if already exsit,
if(oldPoint_.G > newPoint.G)
{
oldPoint_.G = newPoint.G;
oldPoint_.F = oldPoint_.G + oldPoint_.H;
oldPoint_.parent = currentPoint;
}
}
}
}
} while(openArray.Count > 0);
if(destPoint != null)
{
ArrayList result_ = new ArrayList();
_2dPosition node_ = destPoint;
while(node_ != null)
{
result_.Insert(0, node_);
node_ = node_.parent;
}
//behaviac.Debug.Log("Path point count : " + result_.Count.ToString());
return result_;
}
return null;
}
public _2dPosition(int x_, int y_, _2dPosition parent_)
{
x = x_; y = y_; parent = parent_;
}
private _2dPosition getClosetInfo(_2dPosition _from, _2dPosition to, eMapDirection _d)
{
if(_from.x <= 0 || _from.x >= navSize - 1 || to.x <= 0 || to.x >= navSize - 1)
{
behaviac.Debug.LogError("parameters of getClosetInfo() are illegal!");
return null;
}
int newX = 0; int newY = 0;
switch(_d)
{
case eMapDirection.LEFT:
newX = _from.x - 1;
newY = _from.y;
break;
case eMapDirection.RIGHT:
newX = _from.x + 1;
newY = _from.y;
break;
case eMapDirection.TOP:
newX = _from.x;
newY = _from.y - 1;
break;
case eMapDirection.BOTTOM:
newX = _from.x;
newY = _from.y + 1;
break;
}
bool isWakable = GameLevelCommon.instance.isPointWakable(newX, newY, walkLevel);
if(isWakable)
{
_2dPosition n = new _2dPosition(newX, newY, _from);
n.G = _from.G + 1;
n.H = Mathf.Abs(to.x - n.x) + Mathf.Abs(to.y - n.y);
// substract overlap distance
if(to.x == n.x || to.y == n.y)
n.H -= 1;
n.F = n.H + n.G;
return n;
}
else
{
return null;
}
}
private static _2dPosition findFromList(ArrayList list_, _2dPosition t_)
{
_2dPosition kp = null;
for(int i = 0; i < list_.Count; ++i)
{
_2dPosition node_ = list_[i] as _2dPosition;
if(node_.x == t_.x && node_.y == t_.y)
{
kp = node_;
break;
}
}
return kp;
}
