public Map2dAStar(Func <bool> canJump, MazeLevel maze, VisionMapping vision, Transform transform, GameObject prefab_debug_astar)
{
this.maze = maze;
this.prefab_debug_astar = prefab_debug_astar;
SetAstarSourceData(vision, () => maze.Map, canJump, ResetCalcSpace,
(Coord c, out Coord n) => {
AStarData a = calcSpace.At(c);
Coord f = a.from; //e = a._edge;
n = f != Coord.NegativeOne ? f : c;
return(a._edge);
},
(c, f, e) => {
AStarData a = calcSpace.At(c);
a._edge = e; a.from = f;
},
c => calcSpace.At(c).f, (c, f) => { calcSpace.At(c).f = f; },
c => calcSpace.At(c).g, (c, f) => { calcSpace.At(c).g = f; });
ResetCalcSpace(Map.GetSize());
Vector3 p = transform.position;
Coord here = maze.GetCoord(p);
Start(here, here);
if (prefab_debug_astar != null)
{
maze.seen.onChange += RefreshVision;
vision.onChange += RefreshVision;
}
}
void Update()
{
if (visionParticle != null)
{
if (characterMover.JumpButtonTimed > 0 && !visionParticle.isPlaying)
{
visionParticle.Play();
}
else if (characterMover.JumpButtonTimed == 0 && visionParticle.isPlaying)
{
visionParticle.Stop();
}
}
Coord mapSize = maze.Map.GetSize();
if (mapAstar == null)
{
mapAstar = new Map2dAStar(() => canJump, maze, discovery.vision, _t, prefab_debug_astar);
}
mapAstar.UpdateMapSize();
Vector3 p = _t.position;
Coord here = maze.GetCoord(p);
if (follower.waypoints.Count > 0)
{
Coord there = maze.GetCoord(follower.waypoints[0].positon);
if (here == there)
{
follower.NotifyWayPointReached();
}
}
List <Coord> moves = mapAstar.Moves(here, canJump);
if (textOutput != null)
{
UiText.SetText(textOutput, here.ToString() + ":" + (p - maze.transform.position) + " " + moves.JoinToString(", "));
}
if (useVisionParticle && visionParticle)
{
timer -= Time.deltaTime;
if (timer <= 0)
{
mapSize.ForEach(co => {
if (discovery.vision[co])
{
Vector3 po = maze.GetPosition(co);
po.y = _t.position.y;
visionParticle.transform.position = po;
visionParticle.Emit(1);
}
});
timer = .5f;
}
}
switch (aiBehavior)
{
case AiBehavior.RandomLocalEdges:
if (!characterMover.IsAutoMoving())
{
Coord c = moves[Random.Next(moves.Count)];
characterMover.SetAutoMovePosition(MoveablePosition(c, p));
}
break;
case AiBehavior.RandomInVision:
if (mapAstar.goal == here)
{
if (mapAstar.RandomVisibleNode(out Coord there, here))
{
//Debug.Log("startover #");
//Debug.Log("goal " + there+ " "+astar.IsFinished());
}
else
{
mapAstar.RandomNeighborNode(out there, here);
}
mapAstar.Start(here, there);
}
else
{
// iterate astar algorithm
if (!mapAstar.IsFinished())
{
mapAstar.Update();
}
else if (mapAstar.BestPath == null)
{
//Debug.Log("f" + astar.IsFinished() + " " + astar.BestPath);
mapAstar.Start(here, here);
//Debug.Log("startover could not find path");
}
if (mapAstar.BestPath != null)
{
if (mapAstar.BestPath != currentBestPath)
{
currentBestPath = mapAstar.BestPath;
List <Coord> nodes = new List <Coord>();
Coord c = mapAstar.start;
nodes.Add(c);
for (int i = currentBestPath.Count - 1; i >= 0; --i)
{
c = mapAstar.NextNode(c, currentBestPath[i]);
nodes.Add(c);
}
//Debug.Log(currentBestPath.JoinToString(", "));
indexOnBestPath = nodes.IndexOf(here);
if (indexOnBestPath < 0)
{
mapAstar.Start(here, mapAstar.goal);
//Debug.Log("startover new better path");
}
Vector3 pos = p;
follower.ClearWaypoints();
for (int i = 0; i < currentBestPath.Count; ++i)
{
pos = MoveablePosition(nodes[i + 1], pos);
//pos.y += follower.CharacterHeight;
//Show.Log(i + " " + nodes.Count + " " + currentBestPath.Count + " " + (currentBestPath.Count - i - 1));
MazeAStar.EdgeMoveType moveType = MazeAStar.GetEdgeMoveType(currentBestPath[currentBestPath.Count - i - 1]);
switch (moveType)
{
case MazeAStar.EdgeMoveType.Walk: follower.AddWaypoint(pos, false); break;
case MazeAStar.EdgeMoveType.Fall: follower.AddWaypoint(pos, false, 0, true); break;
case MazeAStar.EdgeMoveType.Jump: follower.AddWaypoint(pos, false, characterMover.jump.fullPressDuration); break;
}
}
follower.SetCurrentTarget(pos);
follower.UpdateLine();
follower.doPrediction = true;
}
else
{
if (!characterMover.IsAutoMoving() && follower.waypoints.Count == 0)
{
mapAstar.Start(here, here);
//Debug.Log("startover new level?");
}
}
}
}
break;
}
}