public void DebugDrawShip()
{
foreach (ShipPiece piece in shipPieces)
{
for (int j = 0; j < piece.Height; ++j)
{
for (int i = 0; i < piece.Width; ++i)
{
CellTemplate cell = piece.GetShipCell(i, j);
if (piece.GetShipCell(i, j).CellState != 0)
{
Vector3 p = new Vector3(piece.Position.x + i, piece.Position.y + j, 0) * 3.2f;
if ((piece.GetShipCell(i, j).CurWallState & WallState.Up) != WallState.None)
{
Debug.DrawLine(transform.TransformPoint(p + new Vector3(1.5f, 1.5f, 0)), transform.TransformPoint(p + new Vector3(-1.5f, 1.5f, 0)), Color.red);
}
if ((piece.GetShipCell(i, j).CurWallState & WallState.Right) != WallState.None)
{
Debug.DrawLine(transform.TransformPoint(p + new Vector3(1.5f, -1.5f, 0)), transform.TransformPoint(p + new Vector3(1.5f, 1.5f, 0)), Color.red);
}
if ((piece.GetShipCell(i, j).CurWallState & WallState.Down) != WallState.None)
{
Debug.DrawLine(transform.TransformPoint(p + new Vector3(-1.5f, -1.5f, 0)), transform.TransformPoint(p + new Vector3(1.5f, -1.5f, 0)), Color.red);
}
if ((piece.GetShipCell(i, j).CurWallState & WallState.Left) != WallState.None)
{
Debug.DrawLine(transform.TransformPoint(p + new Vector3(-1.5f, 1.5f, 0)), transform.TransformPoint(p + new Vector3(-1.5f, -1.5f, 0)), Color.red);
}
}
}
}
int connectionCount = piece.GetConnectionCount();
for (int i = 0; i < connectionCount; ++i)
{
ShipConnection connection = piece.GetConnectionByIndex(i);
Vector3 p0 = new Vector3(connection.LocalCell.x + piece.Position.x, connection.LocalCell.y + piece.Position.y, 0) * 3.2f;
Vector3 p1 = new Vector3(connection.OtherCell.x + connection.OtherPiece.Position.x, connection.OtherCell.y + connection.OtherPiece.Position.y, 0) * 3.2f;
Debug.DrawLine(
transform.TransformPoint(p0),
transform.TransformPoint(p1), Color.green);
}
}
}
public NavCell[] AStarSearch(ref int newTState, NavCell[] overrideStart = null)
{
openList.Clear();
closedList.Clear();
var startCell = grids[0].FindCellByPosition(start);
var goalCell = grids[grids.Count - 1].FindCellByPosition(goal);
startCell.heuristic = (goal - startCell.position).magnitude;
openList.Add(startCell);
int itterations = 0;
while (openList.Count > 0)
{
itterations++;
var bestCell = GetBestCell();
openList.Remove(bestCell);
var neighbours = bestCell.OwningGrid.GetMooreNeighbours(bestCell);
for (int i = 0; i < 4; i++)
{
var curCell = neighbours[i];
if (curCell == null)
{
bool connectionMade = false;
if (bestCell.Cell.HasConnections)
{
Vector2Int compareDir = new Vector2Int(0, 1);
switch (i)
{
case 1:
compareDir = new Vector2Int(1, 0);
break;
case 2:
compareDir = new Vector2Int(0, -1);
break;
case 3:
compareDir = new Vector2Int(-1, 0);
break;
}
// Collect new neighbours
ShipConnection connection = bestCell.Cell.OwningPiece.GetConnectionByCellPos(bestCell.position, compareDir);
if (connection != null)
{
connectionMade = true;
// Attempt to locate existing grid
NavGrid connectedGrid = null;
foreach (NavGrid grid in grids)
{
if (connection.OtherPiece == grid.PieceCreatedFrom)
{
connectedGrid = grid;
break;
}
}
// Else Generate new grid from piece
if (connectedGrid == null)
{
connectedGrid = new NavGrid(connection.OtherPiece);
connectedGrid.Generate();
grids.Add(connectedGrid);
}
// Assign the cell on the other grid as the cur cell and continue pathfinding as normal
curCell = connectedGrid.FindCellByPosition(connection.OtherCell + connection.OtherPiece.Position);
}
}
if (!connectionMade)
{
continue;
}
}
if (curCell == goalCell)
{
curCell.parent = bestCell;
return(ConstructPath(curCell, ref newTState, overrideStart));
}
// Cell / Wall state logic
if (curCell.Cell.CellState == 0) // Cell state is 0 (piece does not contain this cell as walkable area).
{
// Add to closed and continue
if (!closedList.Contains(curCell))
{
closedList.Add(curCell);
}
continue;
}
var g = bestCell.cost + (curCell.position - bestCell.position).magnitude;
var h = (goal - curCell.position).magnitude;
if (openList.Contains(curCell) && curCell.f < (g + h))
{
continue;
}
if (closedList.Contains(curCell) && curCell.f < (g + h))
{
continue;
}
curCell.cost = g;
curCell.heuristic = h;
curCell.parent = bestCell;
if (!openList.Contains(curCell))
{
openList.Add(curCell);
}
}
if (!closedList.Contains(bestCell))
{
closedList.Add(bestCell);
}
if (itterations > 10000)
{
Debug.Log("MAX ITTERATIONS REACHED, NOT GOOD");
break;
}
}
return(null);
}
