Exemplo n.º 1
0
        // ConstructSubgoals constructs subgoals within the specified area and tries to connect them
        public void ConstructSubgoals(int startX, int startY, int endX, int endY)
        {
            // Construct subgoals
            for (var x = startX; x < endX; x++)
            {
                for (var y = startY; y < endY; y++)
                {
                    if (grid.IsWalkable(x, y) == false)
                    {
                        continue;
                    }

                    for (var d = 4; d < 8; d++)
                    {
                        if (grid.IsWalkable(x + directions[d][0], y + directions[d][1]) == false)
                        {
                            if (grid.IsWalkable(x + directions[d][0], y) && grid.IsWalkable(x, y + directions[d][1]))
                            {
                                subGoals[x * sizeY + y] = new SubGoal(x, y);
                            }
                        }
                    }
                }
            }
        }
Exemplo n.º 2
0
        public SubGoal Clone()
        {
            var cloned = new SubGoal(x, y);

            cloned.edges = new SubGoalEdge[edges.Length];
            Array.Copy(edges, cloned.edges, edges.Length);
            return(cloned);
        }
Exemplo n.º 3
0
        public static float Diagonal(SubGoal a, SubGoal b)
        {
            var dx = Math.Abs(a.x - b.x);
            var dy = Math.Abs(a.y - b.y);

            return(AStarSearch.LateralCost * (float)(dx + dy) + (AStarSearch.DiagonalCost - 2f * AStarSearch.LateralCost) * (float)Math.Min(dx, dy));

            //return Mathf.Sqrt((a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y));
        }
Exemplo n.º 4
0
        public bool IsDirectHReachable(int x, int y, SubGoal subGoal)
        {
            // Get cardinal reachable
            for (int i = 0; i < 8; i++)
            {
                var clearance = ClearanceWithSubgoal(grid, x, y, directions[i][0], directions[i][1], subGoal.x, subGoal.y);
                var subgoal   = new Position(x + clearance * directions[i][0], y + clearance * directions[i][1]);
                if (subGoals.TryGetValue(subgoal.x * sizeY + subgoal.y, out SubGoal subGoalRef) && subGoalRef == subGoal)
                {
                    return(true);
                }
            }

            // Get diagonal reachable
            for (int d = 4; d < 8; d++)
            {
                for (int c = 0; c <= 1; c++)
                {
                    var cx = c == 0 ? directions[d][0] : 0;
                    var cy = c == 0 ? 0 : directions[d][1];

                    var max  = Clearance(x, y, cx, cy);
                    var diag = Clearance(x, y, directions[d][0], directions[d][1]);
                    if (IsSubGoal(x + max * cx, y + max * cy))
                    {
                        max--;
                    }
                    if (IsSubGoal(x + diag * directions[d][0], y + diag * directions[d][1]))
                    {
                        diag--;
                    }

                    for (int i = 1; i < diag; i++)
                    {
                        var newPosX = x + i * directions[d][0];
                        var newPosY = y + i * directions[d][1];
                        var j       = Clearance(newPosX, newPosY, cx, cy);
                        if (j <= max && subGoals.TryGetValue((newPosX + j * cx) * sizeY + (newPosY + j * cy), out SubGoal subGoalRef) && subGoalRef == subGoal)
                        {
                            return(true);
                        }
                        if (j < max)
                        {
                            max = j;
                        }
                    }
                }
            }

            return(false);
        }