/// <summary>
/// Waits until the ghost can indeed move and sets everything up so that he can start moving
/// </summary>
/// <returns></returns>
IEnumerator BeginningCoroutine()
{
yield return(new WaitUntil(() => CanIStart()));
movementMode = MovementMode.Scatter;
target = UpdadeTarget();
pathToObjective = astar.FindPath(currentNode, GetClosesteNode(target));
targetNode = pathToObjective[pathToObjective.Count - 1];
StartCoroutine(MovetoNextNod());
}
private void R_NEW_POS(SocketIOEvent obj)
{
Debugger.Log(obj);
if (!isInited)
{
Init();
isInited = true;
}
int id = -1;
r_new_pos = obj.data["R_NEW_POS"];
r_new_pos.GetField(ref id, "ID");
if (id != -1 && id != 0)
{
agentTargetPosition = FindNextValidPosition(id);
AStarAlgorithm.FindInfo info = new AStarAlgorithm.FindInfo()
{
StartPosition = agentRemote.CurrentPosition,
EndPosition = agentTargetPosition,
DoneCallback = FindPathDoneCallback
};
aStarAlgorithm.FindPath(info);
}
}
private NodePath RunAstar(DefinitionNodeGrid definitionNodeGrid, Point2 gridStart, Point2 gridEnd, out bool succes)
{
var aStarAlgorithm = new AStarAlgorithm(definitionNodeGrid.NodeCount, new EuclideanDistance());
var start = definitionNodeGrid.NodeGrid.ToIndex(gridStart.X, gridStart.Y);
var end = definitionNodeGrid.NodeGrid.ToIndex(gridEnd.X, gridEnd.Y);
var pathfindingNetwork = new AstarNodeNetwork(definitionNodeGrid, new BrushfireClearanceGenerator(definitionNodeGrid, 5));
var pathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), start, end, PathfindaxCollisionCategory.Cat1);
return(aStarAlgorithm.FindPath(pathfindingNetwork, pathRequest, out succes));
}
public void FindPath_InitializedNodegrid_PathLengthIsNot0(DefinitionNodeGrid definitionNodeGrid, int x1, int y1, int x2, int y2)
{
var aStarAlgorithm = new AStarAlgorithm();
var start = definitionNodeGrid.NodeGrid[x1, y1];
var end = definitionNodeGrid.NodeGrid[x1, y1];
var pathfindingNetwork = new AstarNodeNetwork(definitionNodeGrid, new GridClearanceGenerator(definitionNodeGrid, 5));
var pathRequest = new PathRequest <IPath>(start, end);
var path = aStarAlgorithm.FindPath(pathfindingNetwork, pathRequest, out var _);
Assert.AreEqual(path.Path.Length > 0, true);
}
public void StratPathFindinAlgorithm()
{
pathFind.interactable = false;
resetCurrentPath.interactable = true;
clearAll.interactable = true;
gridController.PathGridState = PathGridState.PathFind;
gridController.InitGraf();
Vector2Int goalPosition = new Vector2Int(gridController.GoalPos.x, gridController.GoalPos.y);
Vector2Int startPosition = new Vector2Int(gridController.StartPos.x, gridController.StartPos.y);
IHeuristicEstimate heuristic = HeuristicFactory.СreateHeuristic(heuristicType, breakerType, startPosition, float.Parse(heuristicCoeffField.text));
float timeDelay = float.Parse(delayBeforeSteps.text);
AStarAlgorithm algorithm = new AStarAlgorithm(gridMarkerController, heuristic, timeDelay);
pathFindingAlgorithmCoroutine = StartCoroutine(algorithm.FindPath(gridController.GetStartVertex(), gridController.GetGoalVertex()));
}
private void Run()
{
Defaults.Load();
MeasureTime(() =>
{
Console.WriteLine("Reading network file...");
_streets = OsmStreetSystem.LoadSystem("K:\\OsmData\\schleswig-holstein-latest.sn");
Console.WriteLine("Finished.");
});
GC.Collect();
var start = _streets.Waypoints[3444465853];
var end = _streets.Waypoints[620793260];
Console.WriteLine();
Console.WriteLine($"Trying to find path from {start.Id} to {end.Id}");
Console.WriteLine($"Direct distance: {start.DistanceTo(end):##.000} km");
Console.WriteLine();
Console.WriteLine("Using Dijkstra's allgorithm.");
var dijkstra = new DijkstraAlgorithm();
var astar = new AStarAlgorithm();
Console.WriteLine(" --------- DIJKSTRA ----------");
for (int i = 0; i < 3; i++)
{
MeasureTime(() =>
{
Console.WriteLine($"[{i}] Looking for a path in the graph....");
var p = dijkstra.FindPath(start, end);
Console.WriteLine($"Finished in {dijkstra.Steps} steps.");
Console.WriteLine($"Inspected {dijkstra.InspectedNodes}, visited {dijkstra.VisitedNodes}");
if (p != null)
{
Console.WriteLine($"Found a path. {p.Waypoints.Count} waypoints. {p.Length:##.000} km.");
}
else
{
Console.WriteLine("No path found.");
}
});
}
Console.WriteLine(" --------- A-STAR ----------");
for (int i = 0; i < 3; i++)
{
MeasureTime(() =>
{
Console.WriteLine($"[{i}] Looking for a path in the graph....");
var p = astar.FindPath(start, end);
Console.WriteLine($"Finished in {astar.Steps} steps.");
Console.WriteLine($"Inspected {astar.InspectedNodes}, visited {astar.VisitedNodes}");
if (p != null)
{
Console.WriteLine($"Found a path. {p.Waypoints.Count} waypoints. {p.Length:##.000} km.");
}
else
{
Console.WriteLine("No path found.");
}
});
}
Console.ReadLine();
}
public NodePath FindLongPath()
{
return(_algorithm.FindPath(_astarNodeNetwork, _longPathRequest, out var succes));
}
public WaypointPath FindLongPath()
{
return(_algorithm.FindPath(_astarNodeNetwork, _longPathRequest));
}
