public PathFinding(GameObject _Worker, aStarPoint _Location, aStarPoint _Destination)
{
Worker = _Worker;
Location = _Location;
Destination = _Destination;
endedTest = false;
}
public List <aStarPoint> findValidNeighbours(aStarPoint Node)
{
List <aStarPoint> neighbours = new List <aStarPoint> ();
for (int x = -1; x < 2; x++)
{
for (int y = -1; y < 2; y++)
{
if (x == 0 && y == 0)
{
continue;
}
if (mc.mapStarMap [Node.y + y, Node.x - x].isTraversable)
{
if (x != 0 && y != 0)
{
if (!mc.mapStarMap [Node.y, Node.x - x].isTraversable || !mc.mapStarMap [Node.y + y, Node.x].isTraversable)
{
}
else
{
neighbours.Add(mc.mapStarMap [Node.y + y, Node.x - x]);
}
}
else
{
neighbours.Add(mc.mapStarMap [Node.y + y, Node.x - x]);
}
}
}
}
return(neighbours);
}
protected override void OnFinished()
{
Pathfound = SimplifyPath(Pathfound);
Worker.GetComponent <Worker_AI2> ().destinationPath = Pathfound;
Worker = null;
Location = null;
Destination = null;
endedTest = true;
}
public List <Vector3> PathFind(aStarPoint NodeStart, aStarPoint NodeFinish)
{
Heap <aStarPoint> openList = new Heap <aStarPoint>(mc.mapStarMap.GetLength(0) * mc.mapStarMap.GetLength(1));
List <aStarPoint> closedList = new List <aStarPoint> ();
openList.Add(NodeStart);
int t = 0;
while (openList.Count > 0)
{
t++;
aStarPoint currentNode = openList.RemoveFirst();
closedList.Add(currentNode);
if (currentNode == NodeFinish)
{
List <Vector3> Path = new List <Vector3> ();
aStarPoint Node = NodeFinish;
while (Node != NodeStart)
{
Path.Add(Node.Location);
Node = Node.parent;
}
foreach (aStarPoint a in mc.mapStarMap)
{
a.reset();
}
Path.Reverse();
return(Path);
}
List <aStarPoint> neighbours = findValidNeighbours(currentNode);
foreach (aStarPoint node in neighbours)
{
if (closedList.Contains(node))
{
continue;
}
int g = Mathf.RoundToInt(Vector2.Distance(node.gridPosition(), currentNode.gridPosition()) * 10);
int h = GetDistance(node, NodeFinish);
int f = g + h;
if (f < node.f || !openList.Contains(node))
{
node.f = f;
node.h = h;
node.g = g;
node.parent = currentNode;
if (!openList.Contains(node))
{
openList.Add(node);
openList.UpdateItem(node);
}
}
}
}
return(null);
}
public void assignJob(Map_Cell cell, string job, int cellNumber)
{
jobTarget = cell;
State = job;
astardestination = jobTarget.assignPosition(gameObject);
destinationPoint = getClosetPoint(astardestination);
if (job.Equals("ClaimGround"))
{
jobTarget.Claimer = true;
}
}
public int GetDistance(aStarPoint nodeA, aStarPoint nodeB)
{
int x = Mathf.Abs(nodeA.x - nodeB.x);
int y = Mathf.Abs(nodeA.y - nodeB.y);
if (x < y)
{
return(14 * y + 10 * (x - y));
}
return(14 * x + 10 * (y - x));
}
aStarPoint getClosetPoint(Vector3 currentPos)
{
aStarPoint bestTarget = new aStarPoint();
float closestDist = Mathf.Infinity;
foreach (aStarPoint v in mapStarMap)
{
float dist = Vector2.Distance(new Vector2(v.Location.x, v.Location.z), (new Vector2(currentPos.x, currentPos.z)));
if (dist < closestDist)
{
closestDist = dist;
bestTarget = v;
}
}
return(bestTarget);
}
aStarPoint getClosetPoint(Vector3 currentPos)
{
aStarPoint bestTarget = new aStarPoint();
float closestDist = -1f;
//List<aStarPoint> liststar = new List<aStarPoint> ();
foreach (aStarPoint v in mc.mapStarMap)
{
//*
float dist = Vector2.Distance(new Vector2(v.Location.x, v.Location.z), (new Vector2(currentPos.x, currentPos.z)));
if (dist < closestDist || closestDist == -1f)
{
closestDist = dist;
bestTarget = v;
}
//*/
//liststar.Add (v);
}
//bestTarget = liststar [0];
//liststar.Clear ();
return(bestTarget);
}
void Update()
{
/* Debug Code */
if (Input.GetKeyDown("l"))
{
toggle = !toggle;
}
if (toggle)
{
speed = 1;
mineSpeed = 1;
}
else
{
speed = 100;
mineSpeed = 100;
}
/* End Of Debug Code */
if (State.Equals("Mine"))
{
//UnityEngine.Debug.Log (destinationPath);
if (jobTarget.Selected == false)
{
State = "Idle";
jobTarget = null;
astardestination = transform.position;
}
else
{
if (destinationPath == null && transform.position != new Vector3(astardestination.x, transform.position.y, astardestination.z))
{
HiveMind.RequestPath(new PathRequest(this.gameObject, getClosetPoint(transform.position), getClosetPoint(astardestination)));
}
//destinationPath = PathFind (getClosetPoint (transform.position), getClosetPoint (astardestination));
//astardestination = jobTarget.GetComponent<Map_CellControl>().assignPosition(gameObject);
if (Vector3.Distance(transform.position, new Vector3(destinationPoint.Location.x, transform.position.y, destinationPoint.Location.z)) <= 8)
{
MineCell(jobTarget);
}
}
if (transform.position != astardestination)
{
if (destinationPath != null)
{
try{
if (transform.position.Equals(new Vector3(destinationPath [pathPosition].x, transform.position.y, destinationPath [pathPosition].z)))
{
if (pathPosition < destinationPath.Count - 1)
{
pathPosition++;
}
}
}
catch (System.ArgumentOutOfRangeException ex) {
Debug.Log(ex);
}
if (pathPosition >= destinationPath.Count)
{
pathPosition = destinationPath.Count - 1;
}
//Debug.Log (pathPosition + " : " + (destinationPath.Count-1));
transform.position = Vector3.MoveTowards(transform.position, new Vector3(destinationPath [pathPosition].x, transform.position.y, destinationPath [pathPosition].z), speed);
}
// transform.position = Vector3.MoveTowards (transform.position, new Vector3 (astardestination.x, transform.position.y, astardestination.z), 1f);
}
else
{
destinationPath = null;
pathPosition = 0;
}
}
else if (State.Equals("ClaimGround"))
{
if (jobTarget.Cell == 2)
{
State = "Idle";
jobTarget = null;
astardestination = transform.position;
}
else
{
astardestination = new Vector3(jobTarget.position.x, transform.position.y, jobTarget.position.z);
if (destinationPath == null && transform.position != new Vector3(astardestination.x, transform.position.y, astardestination.z))
{
HiveMind.RequestPath(new PathRequest(this.gameObject, getClosetPoint(transform.position), getClosetPoint(astardestination)));
}
if (Vector3.Distance(transform.position, new Vector3(destinationPoint.Location.x, transform.position.y, destinationPoint.Location.z)) <= 8)
{
ClaimCell(jobTarget);
}
}
if (transform.position != astardestination)
{
if (destinationPath != null)
{
if (transform.position.Equals(new Vector3(destinationPath [pathPosition].x, transform.position.y, destinationPath [pathPosition].z)))
{
if (pathPosition < destinationPath.Count - 1)
{
pathPosition++;
}
}
if (pathPosition >= destinationPath.Count)
{
pathPosition = destinationPath.Count - 1;
}
transform.position = Vector3.MoveTowards(transform.position, new Vector3(destinationPath [pathPosition].x, transform.position.y, destinationPath [pathPosition].z), speed);
}
// transform.position = Vector3.MoveTowards (transform.position, new Vector3 (astardestination.x, transform.position.y, astardestination.z), 1f);
}
else
{
destinationPath = null;
pathPosition = 0;
}
}
else if (State.Equals("Idle"))
{
destinationPath = null;
destinationPoint = null;
astardestination = Vector3.zero;
}
}
public PathRequest(GameObject _Worker, aStarPoint _Position, aStarPoint _Destination)
{
Worker = _Worker;
Position = _Position;
Destination = _Destination;
}
protected override void ThreadFunction()
{
Heap <aStarPoint> openList = new Heap <aStarPoint>(mc.mapStarMap.GetLength(0) * mc.mapStarMap.GetLength(1));
List <aStarPoint> closedList = new List <aStarPoint> ();
openList.Add(Location);
int t = 0;
while (openList.Count > 0)
{
t++;
aStarPoint currentNode = openList.RemoveFirst();
closedList.Add(currentNode);
/*
* if (currentNode == Destination) {
* List <Vector3> Path = new List<Vector3> ();
* aStarPoint Node = Destination;
* while(Node != Location){
* Path.Add (Node.Location);
* Node = Node.parent;
* }
* foreach(aStarPoint a in mc.mapStarMap){
* a.reset ();
* }
* Path = SimplifyPath (Path);
* Path.Reverse();
* if(!Path.Contains(Destination.Location)){
* Path.Add (Destination.Location);
* }
*
* //sw.Stop ();
* //UnityEngine.Debug.Log (sw.ElapsedMilliseconds+"ms");
* //sw.Reset ();
* Pathfound = Path;
* }
*/
if (currentNode == Destination)
{
List <Vector3> Path = new List <Vector3> ();
aStarPoint Node = Destination;
while (Node != Location)
{
Path.Add(Node.Location);
Node = Node.parent;
}
foreach (aStarPoint a in mc.mapStarMap)
{
a.reset();
}
Path = CleanRoute(Path);
Path.Reverse();
if (!Path.Contains(Destination.Location))
{
Path.Add(Destination.Location);
}
Path.Insert(0, Location.Location);
//SimplifyPath (Path);
//sw.Stop ();
//UnityEngine.Debug.Log (sw.ElapsedMilliseconds+"ms");
//sw.Reset ();
Pathfound = Path;
}
List <aStarPoint> neighbours = findValidNeighbours(currentNode);
foreach (aStarPoint node in neighbours)
{
if (closedList.Contains(node))
{
continue;
}
int g = Mathf.RoundToInt(Vector2.Distance(node.gridPosition(), currentNode.gridPosition()) * 10);
int h = GetDistance(node, Destination);
int f = g + h;
if (f < node.f || !openList.Contains(node))
{
node.f = f;
node.h = h;
node.g = g;
node.parent = currentNode;
if (!openList.Contains(node))
{
//CalculatePosition (node,openList);
openList.Add(node);
openList.UpdateItem(node);
}
}
}
}
}
