public List <PathNode> GetPath(PathNode start, PathNode end)
{
WaypointManager wg = GameObject.Find("WaypointManager").GetComponent <WaypointManager>();
var sources = wg.pathNodes;
if (start == null || end == null)
{
if (sources != null && sources.Count >= 2)
{
start = sources[PathNode.startNode] /*.GetComponent<PathNode>()*/; //.GetInnerObject();
end = sources[PathNode.endNode] /*.GetComponent<PathNode>()*/; //.GetInnerObject();
}
if (start == null || end == null)
{
Debug.LogWarning("Need 'start' and or 'end' defined!");
enabled = false;
return(null);
}
}
startIndex = Closest(sources, start.position);
endIndex = Closest(sources, end.position);
return(AStarHelper.Calculate(sources[startIndex] /*.GetComponent<PathNode>()*/, sources[endIndex] /*.GetComponent<PathNode>()*/));
}
internal override Boolean CalculatePath(GridSlot p_start, GridSlot p_target, List <GridSlot> p_pathBuffer)
{
if (!p_target.CheckForSummons())
{
AStarHelper <GridSlot> .Calculate(p_start, p_target, GameConfig.MaxSteps, m_owner, false, true, true, p_pathBuffer);
return(p_pathBuffer.Count > 0);
}
List <GridSlot> list;
if (Position.Distance(p_target.Position, LegacyLogic.Instance.WorldManager.Party.Position) <= 1.1f)
{
list = GetMeleeTargets(LegacyLogic.Instance.MapLoader.Grid, LegacyLogic.Instance.WorldManager.Party);
}
else
{
list = GetRangedTargets(LegacyLogic.Instance.MapLoader.Grid, LegacyLogic.Instance.WorldManager.Party);
}
if (list.FindAll(new Predicate <GridSlot>(FindSlotsWithSummons)).Count == list.Count)
{
return(base.CalculatePath(p_start, p_target, p_pathBuffer));
}
list.RemoveAll(new Predicate <GridSlot>(FindSlotsWithSummons));
list.Sort(new Comparison <GridSlot>(DistSortAsc));
AStarHelper <GridSlot> .Calculate(p_start, list[0], GameConfig.MaxSteps, m_owner, false, true, true, p_pathBuffer);
list.Sort(new Comparison <GridSlot>(DistSortAsc));
return(p_pathBuffer.Count > 0);
}
public static int Closest(List </*GameObject*/ PathNode> inNodes, Vector3 toPoint)
{
int closestIndex = 0;
float minDist = float.MaxValue;
for (int i = 0; i < inNodes.Count; i++)
{
if (AStarHelper.Invalid(inNodes[i] /*.GetComponent<PathNode>()*/))
{
continue;
}
float thisDist = Vector3.Distance(toPoint, inNodes[i] /*.GetComponent<PathNode>()*/.Position);
if (thisDist > minDist)
{
continue;
}
minDist = thisDist;
closestIndex = i;
}
if (minDist != float.MaxValue)
{
return(closestIndex);
}
else
{
return(-1);
}
}
public void EstablishEnemyPositions()
{
positionToNearestCharacter.Clear();
nearestCharacter.Clear();
var currentRoster = EnemyRosterController.instance.GetCurrentRoster();
var currentCharacters = GameObject.FindGameObjectsWithTag("Player");
foreach (EnemyController enemy in currentRoster)
{
var pos = new List <GridTile>();
var start = GridController.instance.GetTileAtPosition(enemy.transform.position);
foreach (GameObject player in currentCharacters)
{
if (!player.activeInHierarchy)
{
continue;
}
var end = GridController.instance.GetTileAtPosition(player.transform.position);
var toChar = AStarHelper.GetPath(start, end, true);
Debug.Log("Checking path to " + player.name + " and found path of length " + toChar.Count);
if (pos.Count == 0 || pos.Count > toChar.Count)
{
pos = toChar;
nearestCharacter[enemy] = player.GetComponent <PlayerCharacterController>();
}
}
positionToNearestCharacter[enemy] = pos;
}
}
//This is always called after the objects have been sorted, use cached position
public EnemyAction GetAction()
{
var positionOfNearestCharacter = FindClosestPlayer().transform.position;
//Need to recalculate path as may have changed by previous moves
var pathToNearestCharacter = AStarHelper.GetPath(
GridController.instance.GetTileAtPosition(transform.position),
GridController.instance.GetTileAtPosition(positionOfNearestCharacter)
);
var list = pathToNearestCharacter.ConvertAll(
new System.Converter <GridTile, Vector2>(GetWorldPositionOfGridTile)
);
//Need to find the nearest character and create an int list of positions to move towards
if (list.Count > 0)
{
return(new MoveToTargetPositionAction(
gameObject,
this,
movementStyle,
list.GetRange(0, Mathf.Min(availableMove - 1, list.Count))
));
}
else
{
return(new MoveToTargetPositionAction(
gameObject,
this,
movementStyle,
list
));
}
}
public override void CheckVisibility(Boolean skipAnimation)
{
base.CheckVisibility(skipAnimation);
Single num = 0f;
if (MyController != null)
{
Monster monster = (Monster)MyController;
Party party = LegacyLogic.Instance.WorldManager.Party;
if (party != null && party.HasDangerSense())
{
Int32 monsterVisibilityRangeWithDangerSense = ConfigManager.Instance.Game.MonsterVisibilityRangeWithDangerSense;
Grid grid = LegacyLogic.Instance.MapLoader.Grid;
GridSlot slot = grid.GetSlot(monster.Position);
GridSlot slot2 = grid.GetSlot(party.Position);
Int32 num2 = AStarHelper <GridSlot> .Calculate(slot, slot2, monsterVisibilityRangeWithDangerSense, null, false, null);
if (num2 > 0)
{
num = 1f;
}
}
else if (party != null && monster.IsAggro && 1f >= Position.DistanceSquared(monster.Position, party.Position))
{
num = 1f;
}
}
if (num == 0f)
{
TooltipManager.Instance.Hide(this);
}
collider.enabled = (num > 0f);
TweenAlpha.Begin(gameObject, (!skipAnimation) ? 1 : 0, num);
}
private static Boolean InMoveRange(Grid grid, Position start, Position target, Int32 range)
{
GridSlot slot = grid.GetSlot(start);
GridSlot slot2 = grid.GetSlot(target);
Int32 num = AStarHelper <GridSlot> .Calculate(slot, slot2, range, null, false, null);
return(num > 0);
}
public AStar(AStarHelper aStarHelper, int start, int goal, MZDungeon dungeon)
{
this.aStarHelper = aStarHelper;
this.start = start;
this.goal = goal;
this.dungeon = dungeon;
this.current = start;
openSet = new Dictionary <int, float>();
closedSet = new List <int>();
}
internal virtual Boolean CalculatePath(GridSlot p_start, GridSlot p_target, List <GridSlot> p_pathBuffer)
{
// Avoid to stack agro monsters due to cast of spell or long obstacles
Int32 maxSteps = GameConfig.MaxSteps;
if (m_owner.IsAggro)
{
maxSteps *= 3;
}
return(AStarHelper <GridSlot> .Calculate(p_start, p_target, maxSteps, m_owner, false, p_pathBuffer) > 0);
}
/// <summary>
/// Generate the level
/// </summary>
public void Generate()
{
roadSize = SceneParameters.initialSize;
Transform firstChunk, veryLastChunk;
GameObject fline;
GameObject car = GameObject.Find("Car");
// Initialization
rays = new Vector3[6];
hits = new RaycastHit[6];
bool done = false;
while (!done)
{
RemoveAll();
lastRotY = 0.0f;
lastIdx = 0;
putChunks(gameObject.transform, 0.0f, 0, -1);
firstChunk = transform.Find("part-0");
AStarHelper astar = new AStarHelper(firstChunk, this);
done = astar.run();
if (!done)
{
Debug.Log("Trying again");
}
//GameObject inicio = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
//inicio.transform.position= firstChunk.position ;//- new Vector3(0,0,0.25f*firstChunk.GetComponent<BoxCollider>().size.z);
//Debug.Log(transform.position);
}
firstChunk = transform.Find("part-0");
float carX = (firstChunk.position.x + firstChunk.GetComponent <RoadChunk> ().mountPoint.transform.position.x) / 2;
float carZ = (firstChunk.position.z + firstChunk.GetComponent <RoadChunk> ().mountPoint.position.z) / 2;
car.transform.position = new Vector3(carX, firstChunk.position.y + 0.01f, carZ);
car.transform.rotation = firstChunk.GetComponent <RoadChunk> ().mountPoint.rotation;
car.transform.Rotate(new Vector3(0, 180, 0));
//firstChunk.GetComponent<RoadChunk>().mountPoint.rotation.eulerAngles.y /2, 0));
//fline = UnityEngine.Object.Instantiate (FinishLine) as GameObject;
//fline.transform.position = new Vector3 (1.5f, 6f, 7f);
//fline.transform.rotation = new Quaternion (0, 0, 0, 0);
//fline.transform.Rotate (new Vector3 (0, 90, 0));
}
internal Boolean TryMove(List <GridSlot> p_targets, Grid p_grid, GridSlot p_startSlot, Party p_party)
{
if (m_owner.CombatHandler.CanMove)
{
List <GridSlot> pathBuffer = m_PathBuffer;
GridSlot gridSlot = null;
Int32 num = 999;
GridSlot gridSlot2 = null;
foreach (GridSlot gridSlot3 in p_targets)
{
pathBuffer.Clear();
if (CalculatePath(p_startSlot, gridSlot3, pathBuffer) && pathBuffer.Count < num)
{
gridSlot = gridSlot3;
num = pathBuffer.Count;
gridSlot2 = pathBuffer[1];
}
}
if (gridSlot != null)
{
EDirection lineOfSightDirection = EDirectionFunctions.GetLineOfSightDirection(p_startSlot.Position, gridSlot2.Position);
if (lineOfSightDirection != EDirection.CENTER)
{
m_owner.Direction = EDirectionFunctions.GetDirection(gridSlot2.Position, p_party.Position);
if (p_grid.MoveEntity(m_owner, lineOfSightDirection))
{
m_targetSlot = gridSlot;
GridSlot slot = p_grid.GetSlot(m_owner.Position);
GridSlot slot2 = p_grid.GetSlot(p_party.Position);
Int32 num2 = AStarHelper <GridSlot> .Calculate(slot, slot2, GameConfig.MaxSteps, m_owner, true, null);
if (num2 > 0)
{
m_owner.DistanceToParty = num2;
}
else
{
m_owner.DistanceToParty = 99f;
}
m_owner.StartMovement.Trigger();
return(true);
}
}
}
}
return(false);
}
/// <summary>
/// Generate the level
/// </summary>
public void Generate()
{
roadSize = SceneParameters.initialSize;
Transform firstChunk, veryLastChunk;
GameObject fline;
GameObject car = GameObject.Find ("Car");
// Initialization
rays = new Vector3[6];
hits = new RaycastHit[6];
bool done = false;
while (!done) {
RemoveAll ();
lastRotY = 0.0f;
lastIdx = 0;
putChunks (gameObject.transform, 0.0f, 0, -1);
firstChunk = transform.Find ("part-0");
AStarHelper astar = new AStarHelper (firstChunk, this);
done = astar.run ();
if (!done) {
Debug.Log ("Trying again");
}
//GameObject inicio = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
//inicio.transform.position= firstChunk.position ;//- new Vector3(0,0,0.25f*firstChunk.GetComponent<BoxCollider>().size.z);
//Debug.Log(transform.position);
}
firstChunk = transform.Find ("part-0");
float carX = (firstChunk.position.x + firstChunk.GetComponent<RoadChunk> ().mountPoint.transform.position.x) / 2;
float carZ = (firstChunk.position.z + firstChunk.GetComponent<RoadChunk> ().mountPoint.position.z) / 2;
car.transform.position = new Vector3 (carX, firstChunk.position.y + 0.01f, carZ);
car.transform.rotation = firstChunk.GetComponent<RoadChunk> ().mountPoint.rotation;
car.transform.Rotate (new Vector3 (0, 180, 0));
//firstChunk.GetComponent<RoadChunk>().mountPoint.rotation.eulerAngles.y /2, 0));
//fline = UnityEngine.Object.Instantiate (FinishLine) as GameObject;
//fline.transform.position = new Vector3 (1.5f, 6f, 7f);
//fline.transform.rotation = new Quaternion (0, 0, 0, 0);
//fline.transform.Rotate (new Vector3 (0, 90, 0));
}
// 输出的顶点数和边数相同
public bool FindCross2CrossPaths(GpsMapCell fromCross, GpsMapCell toCross,
out List <MapPathGraph.NavigateVertexNode> listNavigateVertexNode, out List <MapPathGraph.Edge> listEdge, AStarHelper ash = null)
{
if (ash == null)
{
ash = new AStarHelper(this.CalcDistanceWeight);
}
ash.Clear();
listNavigateVertexNode = new List <MapPathGraph.NavigateVertexNode>();
listEdge = new List <MapPathGraph.Edge>();
float weight = this.pathGraph.FindShortestPaths(ash,
this.pathGraph.GetVertex(fromCross.Index),
this.pathGraph.GetVertex(toCross.Index),
listNavigateVertexNode);
this.pathGraph.NormalizeVertexAndSpotsOrder(listNavigateVertexNode, listEdge);
listNavigateVertexNode.RemoveAt(0); // 去掉首结点，因其不指导导航路径，与FindCell2CrossPath一致
return(weight >= 0);
}
public override void DoTurn(Grid p_grid, Party p_party)
{
if (m_owner.State == Monster.EState.SPAWNING)
{
return;
}
if (m_firstAction)
{
m_owner.AbilityHandler.ExecuteAttacks(null, null, false, EExecutionPhase.BEGIN_OF_MONSTERS_TURN);
m_owner.AbilityHandler.FlushActionLog(EExecutionPhase.BEGIN_OF_MONSTERS_TURN);
m_owner.BuffHandler.ModifyMonsterValues();
m_owner.CombatHandler.MeleeStrikes += m_owner.CombatHandler.MeleeStrikesRoundBonus;
m_owner.CombatHandler.MeleeStrikesRoundBonus = 0;
GridSlot neighborSlot = p_grid.GetSlot(m_owner.Position).GetNeighborSlot(p_grid, m_owner.Direction);
if (p_grid.MoveEntity(m_owner, m_owner.Direction))
{
m_targetSlot = neighborSlot;
GridSlot slot = p_grid.GetSlot(m_owner.Position);
GridSlot slot2 = p_grid.GetSlot(p_party.Position);
Int32 num = AStarHelper <GridSlot> .Calculate(slot, slot2, GameConfig.MaxSteps, m_owner, true, null);
if (num > 0)
{
m_owner.DistanceToParty = num;
}
else
{
m_owner.DistanceToParty = 99f;
}
m_owner.StartMovement.Trigger();
m_firstAction = false;
return;
}
}
else
{
base.DoTurn(p_grid, p_party);
}
}
public virtual void UpdateDistanceToParty(Party p_party, Grid p_grid)
{
GridSlot slot = p_grid.GetSlot(m_owner.Position);
GridSlot slot2 = p_grid.GetSlot(p_party.Position);
Int32 num;
if (m_owner.IsAggro)
{
num = AStarHelper <GridSlot> .Calculate(slot, slot2, GameConfig.MaxSteps, m_owner, true, false, m_canOpenDoors, null);
}
else
{
num = AStarHelper <GridSlot> .Calculate(slot, slot2, (Int32)m_owner.AggroRange + 1, m_owner, true, false, m_canOpenDoors, null);
}
if (num > 0)
{
m_owner.DistanceToParty = num - 1;
}
else
{
m_owner.DistanceToParty = 99f;
}
}
// Calculate the A* path
public static List <T> Calculate <T>(T start, T goal) where T : IPathNode <T>
{
List <T> closedset = new List <T>(); // The set of nodes already evaluated.
List <T> openset = new List <T>(); // The set of tentative nodes to be evaluated.
openset.Add(start);
Dictionary <T, T> came_from = new Dictionary <T, T>(); // The map of navigated nodes.
Dictionary <T, float> g_score = new Dictionary <T, float>();
g_score[start] = 0.0f; // Cost from start along best known path.
Dictionary <T, float> h_score = new Dictionary <T, float>();
h_score[start] = HeuristicCostEstimate(start, goal);
Dictionary <T, float> f_score = new Dictionary <T, float>();
f_score[start] = h_score[start]; // Estimated total cost from start to goal through y.
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
long elapsed = 0;
sw.Start();
while (openset.Count != 0)
{
T x = LowestScore(openset, f_score);
if (x.Equals(goal))
{
List <T> result = new List <T>();
ReconstructPath(came_from, x, ref result);
return(result);
}
sw.Stop();
elapsed += sw.ElapsedMilliseconds;
if (elapsed > 5)
{
return(null);
}
sw.Start();
openset.Remove(x);
closedset.Add(x);
foreach (T y in x.Connections)
{
if (AStarHelper.Invalid(y) || closedset.Contains(y))
{
continue;
}
float tentative_g_score = g_score[x] + Distance(x, y);
bool tentative_is_better = false;
if (!openset.Contains(y))
{
openset.Add(y);
tentative_is_better = true;
}
else if (tentative_g_score < g_score[y])
{
tentative_is_better = true;
}
if (tentative_is_better)
{
came_from[y] = x;
g_score[y] = tentative_g_score;
h_score[y] = HeuristicCostEstimate(y, goal);
f_score[y] = g_score[y] + h_score[y];
}
}
}
return(null);
}
// 输出的顶点数和边数相同
public bool FindCell2CrossPath(GpsMapCell from, GpsMapCell cross,
out List <MapPathGraph.NavigateVertexNode> listNavigateVertexNode, out List <MapPathGraph.Edge> listEdge)
{
listNavigateVertexNode = null;
listEdge = null;
from = FindNearestCellOf(from, GpsMapCell.EType.EN_ROAD);
if (from == null)
{
XxdwDebugger.Log("Road nearby not found. Strange!");
return(false);
}
int crossVertexIndex = this.pathGraph.FindVertex(cross.Index);
if (crossVertexIndex < 0)
{
XxdwDebugger.Log("Target cross not found. Strange!");
return(false);
}
MapPathGraph.VertexNode vnTo = this.pathGraph.VertexList[crossVertexIndex];
MapPathGraph.VertexNode vn1, vn2;
MapPathGraph.Edge e;
int spotIndex = FindEdgeOfRoadCell(from.Index, out vn1, out vn2, out e);
if (spotIndex < 0)
{
XxdwDebugger.Log("Cross of road not found. Strange!");
return(false);
}
float w1 = CalcDetailWeight(e.Spots, 0, spotIndex + 1);
float w2 = CalcDetailWeight(e.Spots, spotIndex, e.Spots.Length);
int[] spots1 = new int[spotIndex + 1];
Array.Copy(e.Spots, 0, spots1, 0, spotIndex + 1);
int[] spots2 = new int[e.Spots.Length - spotIndex];
Array.Copy(e.Spots, spotIndex, spots2, 0, e.Spots.Length - spotIndex);
MapPathGraph.Edge e1, e2;
if (e.Spots[0] == vn1.Cell)
{
e1 = new MapPathGraph.Edge(vn1.Cell, e.Spots[spotIndex], w1, spots1, "");
e1.ReverseSpots();
e2 = new MapPathGraph.Edge(vn2.Cell, e.Spots[spotIndex], w2, spots2, "");
}
else
{
e1 = new MapPathGraph.Edge(vn1.Cell, e.Spots[spotIndex], w2, spots2, "");
e2 = new MapPathGraph.Edge(vn2.Cell, e.Spots[spotIndex], w1, spots1, "");
e2.ReverseSpots();
}
List <MapPathGraph.NavigateVertexNode> listNavigateVertexNode1 = new List <MapPathGraph.NavigateVertexNode>();
List <MapPathGraph.NavigateVertexNode> listNavigateVertexNode2 = new List <MapPathGraph.NavigateVertexNode>();
AStarHelper ash = new AStarHelper(this.CalcDistanceWeight);
ash.Clear();
float weight1 = this.pathGraph.FindShortestPaths(ash, vn1, vnTo, listNavigateVertexNode1);
weight1 += weight1 >= 0 ? w1 : Parameters.MAX_EDGE_WEIGHT;
ash.Clear();
float weight2 = this.pathGraph.FindShortestPaths(ash, vn2, vnTo, listNavigateVertexNode2);
weight2 += weight2 >= 0 ? w2 : Parameters.MAX_EDGE_WEIGHT;
if (listNavigateVertexNode1.Count == 0 && listNavigateVertexNode2.Count == 0)
{
return(false);
}
listEdge = new List <MapPathGraph.Edge>();
if (weight1 < weight2)
{
listNavigateVertexNode1[0].SelectedEdgeIndex = this.pathGraph.GetEdgeNumber(vn1, e);
listNavigateVertexNode = listNavigateVertexNode1;
this.pathGraph.NormalizeVertexAndSpotsOrder(listNavigateVertexNode, listEdge);
listEdge.Insert(0, e1);
}
else
{
listNavigateVertexNode2[0].SelectedEdgeIndex = this.pathGraph.GetEdgeNumber(vn2, e);
listNavigateVertexNode = listNavigateVertexNode2;
this.pathGraph.NormalizeVertexAndSpotsOrder(listNavigateVertexNode, listEdge);
listEdge.Insert(0, e2);
}
return(true);
}
// Calculate the A* path
public static List <T> Calculate <T>(T start, T goal) where T : IPathNode <T>
{
List <T> closedset = new List <T>(); // The set of nodes already evaluated.
List <T> openset = new List <T>(); // The set of tentative nodes to be evaluated.
openset.Add(start);
Dictionary <T, T> came_from = new Dictionary <T, T>(); // The map of navigated nodes.
Dictionary <T, float> g_score = new Dictionary <T, float>();
g_score[start] = 0.0f; // Cost from start along best known path.
Dictionary <T, float> h_score = new Dictionary <T, float>();
h_score[start] = HeuristicCostEstimate(start, goal);
Dictionary <T, float> f_score = new Dictionary <T, float>();
f_score[start] = h_score[start]; // Estimated total cost from start to goal through y.
while (openset.Count != 0)
{
T x = LowestScore(openset, f_score);
if (x.Equals(goal))
{
List <T> result = new List <T>();
ReconstructPath(came_from, x, ref result);
return(result);
}
openset.Remove(x);
closedset.Add(x);
foreach (T y in x.Connections)
{
if (AStarHelper.Invalid(y) || closedset.Contains(y))
{
continue;
}
float tentative_g_score;
tentative_g_score = g_score[x] + Distance(x, y);
bool tentative_is_better = false;
if (!openset.Contains(y))
{
openset.Add(y);
tentative_is_better = true;
}
else if (tentative_g_score < g_score[y])
{
tentative_is_better = true;
}
if (tentative_is_better)
{
came_from[y] = x;
g_score[y] = tentative_g_score;
h_score[y] = HeuristicCostEstimate(y, goal);
f_score[y] = g_score[y] + h_score[y];
}
}
}
Debug.Log("(movePath null, tripped in AStarHelper. IF THIS IS TRIPPED THIS IS THE REASON WHY SHIT ISN'T WORKING." + openset.Count + " " + closedset.Count);
return(null);
}
void FixedUpdate()
{
AIPlayerPathCalculationTime++;
if (AIPlayerPathCalculationTime > 5 && Chase())
{
//NEVER CHANGE THE FOLLOWING CODE.
int layerMask = 1 << 9; //WALLS ARE LAYER LEVEL 9. THIS NUMBER CANNOT CHANGE. YOU WILL BREAK THE GAME.
//NEVER CHANGE THE PREVIOUS CODE.
//Check if player is in sight, no pathfinding is required if player is in sight.
{
Vector2 start = transform.position;
Vector2 end = player.transform.position;
RaycastHit2D hit = Physics2D.Linecast(start, end, layerMask);
if (hit.collider != null)
{
playerSeen = false;
}
else
{
playerSeen = true;
}
}
if (!playerSeen)
{
//TODO: LOW PRIORITY: Check if path to player already exists from closest node. If so, use said path.
float distance = 999.0f;
float distance2 = 999.0f;
AINode closestNode = null;
AINode closestNode2 = null;
List <AINode> possibleNodes = new List <AINode> ();
List <AINode> possiblePlayerNodes = new List <AINode> ();
//MONSTER CLOSEST NODE
for (int i = 0; i < World.Instance.AINodeList.Count; i++)
{
Vector2 start = transform.position;
Vector2 end = World.Instance.AINodeList[i].transform.position;
RaycastHit2D hit = Physics2D.Linecast(start, end, layerMask);
if (hit.collider != null)
{
//This is not a possible node.
continue;
}
else
{
//This is a possible node.
possibleNodes.Add(World.Instance.AINodeList[i].attachedAINode);
}
}
for (int i = 0; i < possibleNodes.Count; i++)
{
float tempDistance = Vector2.Distance(transform.position, possibleNodes[i].Position);
if (tempDistance < distance)
{
distance = tempDistance;
closestNode = possibleNodes[i];
}
}
//END MONSTER CLOSEST NODE
//PLAYER CLOSEST NODE
for (int i = 0; i < World.Instance.AINodeList.Count; i++)
{
Vector2 start = player.transform.position;
Vector2 end = World.Instance.AINodeList[i].transform.position;
start = Vector2.MoveTowards(start, end, 1f);
RaycastHit2D hit = Physics2D.Linecast(start, end, layerMask);
if (hit.collider != null)
{
//This is not a possible node.
continue;
}
else
{
//This is a possible node.
possiblePlayerNodes.Add(World.Instance.AINodeList[i].attachedAINode);
}
}
for (int i = 0; i < possiblePlayerNodes.Count; i++)
{
float tempDistance = Vector2.Distance(player.transform.position, possiblePlayerNodes[i].Position);
if (tempDistance < distance2)
{
distance2 = tempDistance;
closestNode2 = possiblePlayerNodes[i];
}
}
Debug.DrawLine(player.transform.position, closestNode2.Position, Color.green, 0.1f);
for (int i = 0; i < possiblePlayerNodes.Count; i++)
{
Debug.DrawLine(player.transform.position, possiblePlayerNodes[i].Position, Color.red, 0.1f);
}
//END PLAYER CLOSEST NODE
//Calculate path.
movePath = AStarHelper.Calculate(closestNode, closestNode2);
//If possible node is along path, start there instead.
int pathStart = 0;
for (int i = 0; i < possibleNodes.Count; i++)
{
for (int j = 0; j < movePath.Count; j++)
{
if (possibleNodes[i] == movePath[j] && j > pathStart)
{
pathStart = j;
}
}
}
currentStep = pathStart;
AIPlayerPathCalculationTime = 0;
}
}
}
// 返回被删除的边的引用
/*private Edge RemoveEdgeNode(int vertexIndex, int adjacentIndex)
* {
* EdgeNode p = this.vertexList[vertexIndex].FirstEdge, q = null;
* while (p != null && p.AdjacentVertex != adjacentIndex)
* {
* q = p;
* p = p.Next;
* }
*
* if (p != null) // 找到
* {
* if (q == null) // 首条边
* {
* this.vertexList[vertexIndex].FirstEdge = p.Next;
* }
* else
* {
* q.Next = p.Next;
* }
*
* return p.EdgeLink;
* }
*
* return null;
* }*/
/// <summary>
/// 采用A*算法寻最短路
/// A*算法 (F=G+H)
/// 1，把起始格添加到开启列表。
/// 2，重复如下的工作：
/// a) 寻找开启列表中F值最低的格子。我们称它为当前格。
/// b) 把它切换到关闭列表。
/// c) 对相邻的格中的每一个
/// * 如果它不可通过或者已经在关闭列表中，略过它。反之如下。
/// * 如果它不在开启列表中，把它添加进去。把当前格作为这一格的父节点。记录这一格的F,G,和H值。
/// * 如果它已经在开启列表中，用G值为参考检查新的路径是否更好。更低的G值意味着更好的路径。
/// * 如果是这样，就把这一格的父节点改成当前格，并且重新计算这一格的G和F值。
/// * 如果要保持的开启列表按F值排序，改变之后可能需要重新对开启列表排序。
/// d) 停止，当
/// * 把目标格添加进了关闭列表，这时候路径被找到，或者
/// * 没有找到目标格，开启列表已经空了。这时候，路径不存在。
/// 3.保存路径。从目标格开始，沿着每一格的父节点移动直到回到起始格。这就是找到的路径。
/// </summary>
/// <param name="vnFrom">起点</param>
/// <param name="vnTo">终点</param>
/// <param name="listNavigateVertexNode">顶点表示的路径,每个元素记录的是边对应结点的入边, "并未"设置出边的序号</param>
/// <returns>路径的总权值, 负数表示没找到</returns>
public float FindShortestPaths(AStarHelper ash, VertexNode vnFrom, VertexNode vnTo, List <NavigateVertexNode> listNavigateVertexNode)
{
listNavigateVertexNode.Clear();
AStarHelper.SeekingNode me = new AStarHelper.SeekingNode(-1, 0.0f, 0.0f, null, vnFrom, null);
ash.InsertIntoOpening(me);
while (ash.OpeningLength > 0)
{
me = ash.PopLowestWeightInOpening();
VertexNode vn = me.Data as VertexNode;
if (vn.Cell == vnTo.Cell)
{
break; // 找到
}
// 遍历邻接点
EdgeNode p = vn.FirstEdge;
int whichAdjacent = 0;
while (p != null)
{
if (ash.IsInClosed(p.EdgeLink.ID))
{
p = p.Next;
whichAdjacent++;
continue;
}
NavigateVertexNode nvn = new NavigateVertexNode(this.vertexList[p.AdjacentVertex] as VertexNode);
nvn.SelectedEdgeIndex = whichAdjacent;
nvn.SelectedEdge = p;
float h = ash.hFunc(this.vertexList[p.AdjacentVertex].Cell, vnTo.Cell);
//string info = string.Format("edge={0:d}<->{1:d}, g={2:f}, h={3:f}",
// vn.Cell, this.vertexList[p.AdjacentVertex].Cell, me.G + p.EdgeLink.Weight, h);
//XxdwDebugger.Log(info);
AStarHelper.SeekingNode next = new AStarHelper.SeekingNode(
p.EdgeLink.ID,
me.G + p.EdgeLink.Weight,
h,
me,
this.vertexList[p.AdjacentVertex],
nvn);
AStarHelper.SeekingNode pre = ash.FindInOpening(p.EdgeLink.ID);
if (pre == null)
{
ash.InsertIntoOpening(next);
}
else if (next.F < pre.F)
{
ash.RemoveFromOpening(pre);
ash.InsertIntoOpening(next);
}
p = p.Next;
whichAdjacent++;
}
} // while
float weight = 0.0f;
if ((me.Data as VertexNode).Cell == vnTo.Cell) // 找到
{
NavigateVertexNode nvn;
AStarHelper.SeekingNode sn = me;
while (sn != null && sn.ExtraData != null)
{
nvn = sn.ExtraData as NavigateVertexNode;
listNavigateVertexNode.Insert(0, nvn);
weight += nvn.SelectedEdge.EdgeLink.Weight;
sn = sn.Parent;
}
listNavigateVertexNode.Insert(0, new NavigateVertexNode(vnFrom)); //加入开始节点
return(weight);
}
else
{
return(-1.0f);
}
}
