public void PathFound(List <Node> nodePath, AgentPathfinder agent, Vector3 to)
{
if (nodePath == null)
{
PathfindResult result = new PathfindResult(agent, null);
lock (results){ results.Enqueue(result); }
return;
}
vector3Path.Clear();
//invert path and convert to Vector3
// i > 0 as we don't want to add last one, see below comment
for (int i = nodePath.Count - 1; i > 0; i--)
{
vector3Path.Add(nodePath[i].pos);
}
//last one should be exact position, not node position.
vector3Path.Add(to);
PathfindResult successfulResult = new PathfindResult(agent, vector3Path);
lock (results) { results.Enqueue(successfulResult); }
}
private TestResult RunPathfind(GridTile start, GridTile dest)
{
float before, after;
TestResult result = new TestResult();
PathfindResult res = new PathfindResult();
before = Time.realtimeSinceStartup;
res.Path = HierarchicalPathfinder.FindHierarchicalPath(graph, start, dest);
after = Time.realtimeSinceStartup;
res.RunningTime = after - before;
res.CalculatePathLength();
result.HPAStarResult = res;
res = new PathfindResult();
before = Time.realtimeSinceStartup;
res.Path = HierarchicalPathfinder.FindLowlevelPath(graph, start, dest);
after = Time.realtimeSinceStartup;
res.RunningTime = after - before;
res.CalculatePathLength();
result.AStarResult = res;
return(result);
}
public void MouseClicked(MouseEvent e)
{
var localCoordinates = this.GlobalToLocal(e.GlobalCoordinates);
var gridX = (int)((localCoordinates.x / this.tileSize) + 1) - 1;
var gridY = (int)((localCoordinates.y / this.tileSize) + 1) - 1;
var gridVector = new Vector2i(gridX, gridY);
if (this.selectedActor != null)
{
if (this.pathfindResults != null && this.pathfindResults.VisitablePoints.Contains(gridVector))
{
this.UpdateLocation(this.selectedActor, gridVector);
this.ClearSelection();
}
}
else if (this.TryGetActor(gridVector, out this.selectedActor))
{
this.pathfindResults = Pathfinder.Pathfind(this, this.selectedActor);
foreach (var item in this.pathfindResults.VisitablePoints)
{
this.highlights[item.X, item.Y].isVisible = true;
this.highlightedIndicies.Add(item);
}
}
}
private void moveActor(Actor actor, Vector2i destination, PathfindResult pathfinding)
{
MoveActorAnimation move = new MoveActorAnimation(actor, destination, pathfinding);
move.Delay = 10;
move.AnimationStopped += new EventHandler<AnimationEventArgs>(anim_AnimationStopped);
move.Start();
AwayTeam.MissionController.AddChild(move);
move.Play();
}
private void moveActor(Actor actor, Vector2i destination, PathfindResult pathfinding)
{
MoveActorAnimation move = new MoveActorAnimation(actor, destination, pathfinding);
move.Delay = 10;
move.AnimationStopped += new EventHandler <AnimationEventArgs>(anim_AnimationStopped);
move.Start();
AwayTeam.MissionController.AddChild(move);
move.Play();
}
public virtual string GetDoorCommand(Exit e)
{
if (!string.IsNullOrEmpty(e.DoorCommand))
{
return(e.DoorCommand);
}
if (e.HasFlag("door") && PathfindResult.IsDirectionCommand(e.Command) != 'x')
{
return("open " + e.Command);
}
return(string.Empty);
}
public override void Activate(Ability ability)
{
base.Activate(ability);
this.MoveAbility = ability as BasicMoveAbility;
if (this.MoveAbility == null)
{
throw new ArgumentException("Ability " + ability + " is not implemented by this controller.");
}
this.pathfinding = this.MoveAbility.GetDestinations(ParentController.Map, ParentController.SelectedActor);
this.highlightDesinations();
this.ParentController.TouchEnded += onTouchEnded;
}
public override void Activate(Ability ability)
{
base.Activate(ability);
this.MoveAbility = ability as BasicMoveAbility;
if (this.MoveAbility == null)
{
throw new ArgumentException("Ability " + ability + " is not implemented by this controller.");
}
this.pathfinding = this.MoveAbility.GetDestinations(ParentController.Map, ParentController.SelectedActor);
this.highlightDesinations();
this.ParentController.TouchEnded += onTouchEnded;
}
public static PathfindResult Pathfind(Map map, Actor actor)
{
var result = new PathfindResult();
var frontier = new PriorityQueue <Vector2i>();
var actorLocation = map.GetLocation(actor);
if (actorLocation == null)
{
throw new InvalidOperationException("Actor " + actor + " does not exist on map " + map);
}
var start = actorLocation.Value;
result.Distance.Add(new Vector2i(start.X, start.Y), 0);
frontier.Insert(start, 0);
Debug.Log("before loop");
while (frontier.Count > 0)
{
var min = frontier.ExtractMin();
Debug.Log("Greedy Step -- Location: " + min.Key + " Distance:" + min.Value);
foreach (var adj in GetAdjacentCoordinates(map, min.Key))
{
if (map.GetActor(adj) == null)
{
var tile = map[adj];
var cost = tile.Properties.MovementPenalty;
var cur = result.Distance.ContainsKey(adj) ? result.Distance[adj] : int.MaxValue;
var alt = min.Value + cost;
if (alt < cur && alt <= actor.Properties.MovementPoints)
{
AddOrUpdate(result.Distance, adj, alt);
AddOrUpdate(result.Previous, adj, min.Key);
if (frontier.ContainsKey(adj))
{
frontier.DecreaseKey(adj, alt);
}
else
{
frontier.Insert(adj, alt);
}
}
}
}
}
return(result);
}
public void HandleSingleTouchEnded(FTouch touch)
{
var gridVector = this.map.GlobalToGrid(touch.position);
Debug.Log("Touch at: " + touch.position + ", map grid: " + gridVector);
if (this.selectedActor != null)
{
var actorState = this.selectedActor.TurnState;
if (actorState == ActorState.SelectingDestination)
{
if (this.pathfindResults != null && this.pathfindResults.VisitablePoints.Contains(gridVector))
{
this.selectedActor.HasMovedThisTurn = true;
this.selectedActor.TurnState = ActorState.AwaitingCommand;
this.map.UpdateLocation(this.selectedActor, gridVector);
// Recompute the set of attackable points, since the actor has moved.
var tempEnum = MoveAndAttackHelper.GetAttackablePoints(this.map, gridVector, 1, 6);
this.localAttackablePoints = new HashSet <Vector2i>(tempEnum);
this.showButtonStrip(this.selectedActor);
this.clearHighlights();
}
}
else if (actorState == ActorState.SelectingEnemy)
{
if (this.localAttackablePoints.Contains(gridVector))
{
Debug.Log("Attacking point: " + gridVector);
Vector2 source = new Vector2(this.selectedActor.x, this.selectedActor.y);
Vector2 dest = this.map.GridToGlobal(gridVector);
this.ShootLaser(source, dest);
}
}
}
else if (this.map.TryGetActor(gridVector, out this.selectedActor))
{
var actorState = this.selectedActor.TurnState;
if (actorState == ActorState.TurnStart)
{
this.selectedActor.TurnState = ActorState.AwaitingCommand;
this.pathfindResults = MoveAndAttackHelper.Pathfind(this.map, this.selectedActor);
var tempEnum = MoveAndAttackHelper.GetAttackablePoints(this.map, gridVector, 1, 6);
this.localAttackablePoints = new HashSet <Vector2i>(tempEnum);
this.showButtonStrip(this.selectedActor);
}
}
}
// Update is called once per frame
void Update()
{
//update objects when a thread has finished processing their path.
lock (results)
{
while (results.Count > 0)
{
PathfindResult res = results.Dequeue();
res.agent.NotifyPathAvailable(res.path);
}
}
#if UNITY_EDITOR
drawOuterGrid();
#endif
}
public static PathfindResult Djikstra(
Func<Vector2i, int> cost,
Func<Vector2i, IEnumerable<Vector2i>> adjacent,
Vector2i start,
int range)
{
var result = new PathfindResult(start);
var frontier = new PriorityQueue<Vector2i>();
result.Distance.Add(start, 0);
frontier.Insert(start, 0);
while (frontier.Count > 0)
{
var min = frontier.ExtractMin();
foreach (var adj in adjacent(min.Key))
{
var d = cost(adj);
var cur = result.Distance.ContainsKey(adj) ? result.Distance[adj] : int.MaxValue;
var alt = min.Value + d;
// Wrap around!?
if (alt < 0 && d > 0)
{
alt = int.MaxValue;
}
if (alt < cur && alt <= range)
{
AddOrUpdate(result.Distance, adj, alt);
AddOrUpdate(result.Previous, adj, min.Key);
if (frontier.ContainsKey(adj))
{
frontier.DecreaseKey(adj, alt);
}
else
{
frontier.Insert(adj, alt);
}
}
}
}
return result;
}
public MoveActorAnimation(Actor mover, Vector2i destination, PathfindResult pathMetrics)
{
this.actor = mover;
this.dest = destination;
this.done = false;
this.path = new List<Vector2>();
Vector2i p = destination;
Vector2i origin = actor.GridPosition;
while (p != origin)
{
var globalx = p.X * AwayTeam.TileSize + AwayTeam.TileSize / 2;
var globaly = p.Y * AwayTeam.TileSize + AwayTeam.TileSize / 2;
this.path.Insert(0, new Vector2(globalx, globaly));
p = pathMetrics.Previous[p];
}
this.index = 0;
}
public MoveActorAnimation(Actor mover, Vector2i destination, PathfindResult pathMetrics)
{
this.actor = mover;
this.dest = destination;
this.done = false;
this.path = new List <Vector2>();
Vector2i p = destination;
Vector2i origin = actor.GridPosition;
while (p != origin)
{
var globalx = p.X * AwayTeam.TileSize + AwayTeam.TileSize / 2;
var globaly = p.Y * AwayTeam.TileSize + AwayTeam.TileSize / 2;
this.path.Insert(0, new Vector2(globalx, globaly));
p = pathMetrics.Previous[p];
}
this.index = 0;
}
public void HandleSingleTouchEnded(FTouch touch)
{
var gridVector = this.map.GlobalToGrid(touch.position);
Debug.Log("Touch at: " + touch.position + ", map grid: " + gridVector);
if (this.selectedActor != null)
{
var actorState = this.selectedActor.TurnState;
if (actorState == ActorState.SelectingDestination)
{
if (this.pathfindResults != null && this.pathfindResults.VisitablePoints.Contains(gridVector))
{
this.selectedActor.HasMovedThisTurn = true;
this.selectedActor.TurnState = ActorState.AwaitingCommand;
this.map.UpdateLocation(this.selectedActor, gridVector);
// Recompute the set of attackable points, since the actor has moved.
var tempEnum = MoveAndAttackHelper.GetAttackablePoints(this.map, gridVector, 1, 6);
this.localAttackablePoints = new HashSet<Vector2i>(tempEnum);
this.showButtonStrip(this.selectedActor);
this.clearHighlights();
}
}
else if(actorState == ActorState.SelectingEnemy)
{
if (this.localAttackablePoints.Contains(gridVector))
{
Debug.Log("Attacking point: " + gridVector);
Vector2 source = new Vector2(this.selectedActor.x, this.selectedActor.y);
Vector2 dest = this.map.GridToGlobal(gridVector);
this.ShootLaser(source, dest);
}
}
}
else if (this.map.TryGetActor(gridVector, out this.selectedActor))
{
var actorState = this.selectedActor.TurnState;
if (actorState == ActorState.TurnStart)
{
this.selectedActor.TurnState = ActorState.AwaitingCommand;
this.pathfindResults = MoveAndAttackHelper.Pathfind(this.map, this.selectedActor);
var tempEnum = MoveAndAttackHelper.GetAttackablePoints(this.map, gridVector, 1, 6);
this.localAttackablePoints = new HashSet<Vector2i>(tempEnum);
this.showButtonStrip(this.selectedActor);
}
}
}
public static PathfindResult Pathfind(Map map, Actor actor)
{
Vector2i start;
if (!map.TryGetLocation(actor, out start))
{
throw new InvalidOperationException("Actor " + actor + " does not exist on map " + map);
}
var result = new PathfindResult(start);
var frontier = new PriorityQueue <Vector2i>();
//var potentialAttackablePoints = new HashSet<Vector2i>();
result.Distance.Add(new Vector2i(start.X, start.Y), 0);
frontier.Insert(start, 0);
while (frontier.Count > 0)
{
var min = frontier.ExtractMin();
//foreach (var point in GetAttackablePoints(map, min.Key, 1, 2))
//{
// potentialAttackablePoints.Add(point);
//}
foreach (var adj in GetAdjacentCoordinates(map, min.Key))
{
Actor tempActor;
if (!map.TryGetActor(adj, out tempActor))
{
var tile = map[adj];
var cost = tile.Properties.MovementPenalty;
var cur = result.Distance.ContainsKey(adj) ? result.Distance[adj] : int.MaxValue;
var alt = min.Value + cost;
if (alt < cur && alt <= actor.Properties.MovementPoints)
{
AddOrUpdate(result.Distance, adj, alt);
AddOrUpdate(result.Previous, adj, min.Key);
if (frontier.ContainsKey(adj))
{
frontier.DecreaseKey(adj, alt);
}
else
{
frontier.Insert(adj, alt);
}
}
}
}
}
//var attackablePoints = potentialAttackablePoints.Except(result.VisitablePoints);
//foreach (var point in attackablePoints)
//{
// result.AttackablePoints.Add(point);
//}
return(result);
}
public void MouseClicked(MouseEvent e)
{
var localCoordinates = this.GlobalToLocal(e.GlobalCoordinates);
var gridX = (int)((localCoordinates.x / this.tileSize) + 1) - 1;
var gridY = (int)((localCoordinates.y / this.tileSize) + 1) - 1;
var gridVector = new Vector2i(gridX, gridY);
if (this.selectedActor != null)
{
if (this.pathfindResults != null && this.pathfindResults.VisitablePoints.Contains(gridVector))
{
this.UpdateLocation(this.selectedActor, gridVector);
this.ClearSelection();
}
}
else if (this.TryGetActor(gridVector, out this.selectedActor))
{
this.pathfindResults = Pathfinder.Pathfind(this, this.selectedActor);
foreach (var item in this.pathfindResults.VisitablePoints)
{
this.highlights[item.X, item.Y].isVisible = true;
this.highlightedIndicies.Add(item);
}
}
}
