public Cell CellInDirection(Direction dir)
{
switch (dir)
{
case Direction.North:
if (y < CellGen.cellsPerSide - 1)
{
return(CellGen.GetCellAt(x, y + 1));
}
break;
case Direction.South:
if (y > 0)
{
return(CellGen.GetCellAt(x, y - 1));
}
break;
case Direction.East:
if (x < CellGen.cellsPerSide - 1)
{
return(CellGen.GetCellAt(x + 1, y));
}
break;
case Direction.West:
if (x > 0)
{
return(CellGen.GetCellAt(x - 1, y));
}
break;
default:
Debug.LogWarning("Invalid direction " + dir);
break;
}
return(null);
}
public static Vector3[] PathTo(Vector3 fromPoint, Vector3 toPoint)
{
fromPoint.y = toPoint.y = 0;
Cell startCell = CellGen.GetCellAt(fromPoint);
Cell endCell = CellGen.GetCellAt(toPoint);
if (startCell.x < 0 || endCell.y < 0)
{
Debug.Log("Invalid path start and/or end");
return(null);
}
// A* setup
var evaluated = new List <Cell>();
var toEvaluate = new List <Cell>();
var cameFrom = new Dictionary <Cell, Cell>();
var costTo = new Dictionary <Cell, int>();
var costFrom = new Dictionary <Cell, float>();
var totalCost = new Dictionary <Cell, float>();
toEvaluate.Add(startCell);
costTo.Add(startCell, 0);
costFrom.Add(startCell, HeuristicDist(startCell, endCell));
totalCost.Add(startCell, costFrom[startCell]);
// A* loop
while (toEvaluate.Count > 0)
{
Cell evalPoint = null;
float lowestCost = float.MaxValue;
foreach (var cell in toEvaluate) // perhaps ove toeval to a heap or something
{
float newCost = totalCost[cell];
if (newCost < lowestCost)
{
lowestCost = newCost;
evalPoint = cell;
}
}
// if reached dest
if (evalPoint == endCell)
{
var cellPath = PathFrom(cameFrom, evalPoint);
var path = new List <Vector3>();
path.Add(fromPoint);
for (int i = 1; i < cellPath.Count - 1; i++)
{
path.Add(cellPath[i].centrePosition);
}
path.Add(toPoint);
path = SmoothPath(path);
return(path.ToArray());
}
toEvaluate.Remove(evalPoint);
evaluated.Add(evalPoint);
var neighbours = new List <Cell>();
if (evalPoint.canGoNorth && evalPoint.CellInDirection(Direction.North).room != 0)
{
neighbours.Add(evalPoint.CellInDirection(Direction.North));
}
if (evalPoint.canGoSouth && evalPoint.CellInDirection(Direction.South).room != 0)
{
neighbours.Add(evalPoint.CellInDirection(Direction.South));
}
if (evalPoint.canGoEast && evalPoint.CellInDirection(Direction.East).room != 0)
{
neighbours.Add(evalPoint.CellInDirection(Direction.East));
}
if (evalPoint.canGoWest && evalPoint.CellInDirection(Direction.West).room != 0)
{
neighbours.Add(evalPoint.CellInDirection(Direction.West));
}
foreach (Cell newPoint in neighbours)
{
if (evaluated.Contains(newPoint))
{
continue;
}
int tentCostTo = costTo[evalPoint] + 1;
if (!toEvaluate.Contains(newPoint))
{
toEvaluate.Add(newPoint);
costTo.Add(newPoint, tentCostTo);
costFrom.Add(newPoint, HeuristicDist(newPoint, endCell));
totalCost.Add(newPoint, tentCostTo + costFrom[newPoint]);
cameFrom.Add(newPoint, evalPoint);
}
else if (tentCostTo < costTo[newPoint])
{
costTo[newPoint] = tentCostTo;
cameFrom[newPoint] = evalPoint;
totalCost[newPoint] = tentCostTo + costFrom[newPoint];
}
}
}
Debug.Log("No path found from " + fromPoint + " to " + toPoint);
return(null);
}
