private void AddNeighboursToList(DijkstraTile previousTile)
{
//left
if (previousTile.tile.x > 1)
{
UpdateTileDistance(previousTile.tile.x - 1, previousTile.tile.y, previousTile);
}
//right
if (previousTile.tile.x < map.GetLength(0) - 2)
{
UpdateTileDistance(previousTile.tile.x + 1, previousTile.tile.y, previousTile);
}
//down
if (previousTile.tile.y > 1)
{
UpdateTileDistance(previousTile.tile.x, previousTile.tile.y - 1, previousTile);
}
//top
if (previousTile.tile.y < map.GetLength(1) - 2)
{
UpdateTileDistance(previousTile.tile.x, previousTile.tile.y + 1, previousTile);
}
}
private static List <DijkstraTile> CalculateDistances(List <DijkstraTile> dijkTiles)
{
DijkstraTile lastChecked = dijkTiles.FirstOrDefault(d => d.Completed);
while (dijkTiles.Any(d => d.Completed == false))
{
List <DijkstraTile> adjTiles = dijkTiles.Where(d => lastChecked.AdjascentTiles.Any(l => l.Coordinate == d.t.Coordinate && !d.Completed)).ToList();
foreach (var tile in adjTiles)
{
if (tile.Distance > lastChecked.Distance + tile.Cost)
{
tile.Distance = lastChecked.Distance + tile.Cost;
tile.Path = lastChecked.Path.ToList();
tile.Path.Add(lastChecked.t);
}
}
lastChecked.Completed = true;
var uncompletedDijk = dijkTiles.Where(d => !d.Completed).ToList();
if (uncompletedDijk.Count == 0)
{
break;
}
var minDistance = uncompletedDijk.Min(a => a.Distance);
var minVal = uncompletedDijk.FirstOrDefault(m => m.Distance == minDistance);
//var minAdj = adjTiles.First(m=>m.distance == adjTiles.Min(a => a.distance));
lastChecked = minVal;
}
return(dijkTiles);
}
public static DijkstraTile[,] generateDijkstraGrid(DijkstraTile[,] grid, Vector2Int gridSize, DijkstraTile target)
{
//flood fill out from the end point
DijkstraTile destination = target;
destination.setWeight(0);
grid[destination.getVector2d().x, destination.getVector2d().y].setWeight(0);
List <DijkstraTile> toVisit = new List <DijkstraTile>();
toVisit.Add(destination);//check this maybe!!!
//for each node we need to visit, starting with the pathEnd
for (int i = 0; i < toVisit.Count; i++)
{
List <DijkstraTile> neighbours = straightNeighboursOf(toVisit[i], gridSize);
//for each neighbour of this node (only straight line neighbours, not diagonals)
foreach (DijkstraTile neighbour in neighbours)
{
//We will only ever visit every node once as we are always visiting nodes in the most efficient order
if (grid[neighbour.getVector2d().x, neighbour.getVector2d().y].getWeight() == -1) //if tile has not been visited
{
neighbour.setWeight(toVisit[i].getWeight() + 1);
grid[neighbour.getVector2d().x, neighbour.getVector2d().y].setWeight(neighbour.getWeight());
toVisit.Add(neighbour);
}
}
}
return(grid);
}
private void ReconstructPath()
{
path.Add(finish.tile);
DijkstraTile nextTile = finish;
while (nextTile != start)
{
nextTile = nextTile.parent;
path.Add(nextTile.tile);
}
}
public override bool CreatePath(Tile[,] map, Tile start, Tile finish)
{
unvisitedList = new List <DijkstraTile>();
path = new List <Tile>();
ConvertMap(map);
this.start = ConvertTile(start, 1, 0);
this.map[start.x, start.y] = this.start;
this.finish = ConvertTile(finish, 1, int.MaxValue);
this.map[finish.x, finish.y] = this.finish;
return(DijkstraPath());
}
private bool DijkstraPath()
{
unvisitedList.Add(start);
while (unvisitedList.Count > 0)
{
DijkstraTile nextTile = GetClosestTile();
AddNeighboursToList(nextTile);
unvisitedList.Remove(nextTile);
nextTile.visited = true;
}
if (finish.visited)
{
ReconstructPath();
return(true);
}
return(false);
}
private static List <DijkstraTile> InitializeDistance(List <Tile> tiles, Tile start, List <Tile> blockedTiles)
{
List <DijkstraTile> dijTiles = new List <DijkstraTile>();
foreach (var tile in tiles)
{
if (tile.Coordinate != start.Coordinate)
{
var d = new DijkstraTile(tile);
d.AdjascentTiles = tiles.Where(t =>
(
(Math.Abs(tile.Coordinate.x - t.Coordinate.x) == 1 && tile.Coordinate.y - t.Coordinate.y == 0) ||
(Math.Abs(tile.Coordinate.y - t.Coordinate.y) == 1 && tile.Coordinate.x - t.Coordinate.x == 0)
) &&
!(Math.Abs(tile.Coordinate.x - t.Coordinate.x) == 1 && Math.Abs(tile.Coordinate.y - t.Coordinate.y) == 1)).ToList();
dijTiles.Add(d);
}
else
{
var d = new DijkstraTile(tile);
d.Distance = 0;
d.Completed = true;
d.AdjascentTiles = tiles.Where(t =>
(
(Math.Abs(tile.Coordinate.x - t.Coordinate.x) == 1 && tile.Coordinate.y - t.Coordinate.y == 0) ||
(Math.Abs(tile.Coordinate.y - t.Coordinate.y) == 1 && tile.Coordinate.x - t.Coordinate.x == 0)
) &&
!(Math.Abs(tile.Coordinate.x - t.Coordinate.x) == 1 && Math.Abs(tile.Coordinate.y - t.Coordinate.y) == 1)).ToList();
dijTiles.Add(d);
}
}
foreach (var t in blockedTiles)
{
var dijk = dijTiles.FirstOrDefault(d => d.t.Coordinate == t.Coordinate);
if (dijk != null)
{
dijk.Cost = 1000;
}
}
return(dijTiles);
}
void CreateGrid()
{
NodeArray = new DijkstraTile[iGridSizeX, iGridSizeY]; //Declare the array of nodes.
Vector3 bottomLeft = transform.position - Vector3.right * vGridWorldSize.x / 2 - Vector3.forward * vGridWorldSize.y / 2; //Get the real world position of the bottom left of the grid.
for (int x = 0; x < iGridSizeX; x++) //Loop through the array of nodes.
{
for (int y = 0; y < iGridSizeY; y++) //Loop through the array of nodes
{
Vector3 worldPoint = bottomLeft + Vector3.right * (x * fNodeDiameter + fNodeRadius) + Vector3.forward * (y * fNodeDiameter + fNodeRadius); //Get the world co ordinates of the bottom left of the graph
DijkstraTile tile = new DijkstraTile(new Vector2Int(x, y), worldPoint);
if (Physics.CheckSphere(worldPoint, fNodeRadius, WallMask))
{
tile.setWeight(int.MaxValue);
}
NodeArray[x, y] = tile;//Create a new node in the array.
}
}
}
private void UpdateTileDistance(int x, int y, DijkstraTile previousTile)
{
DijkstraTile addTile = map[x, y];
if (addTile.tile.value != TileValue.Floor)
{
return;
}
int newDistance = previousTile.distanceToStart + addTile.weight;
if (addTile.distanceToStart > newDistance)
{
addTile.distanceToStart = newDistance;
addTile.parent = previousTile;
}
if (!addTile.visited && !unvisitedList.Contains(addTile))
{
unvisitedList.Add(addTile);
}
}
private static List <DijkstraTile> straightNeighboursOf(DijkstraTile tile, Vector2Int gridSize)
{
List <DijkstraTile> neighbours = new List <DijkstraTile>();
if (tile.getVector2d().x > 0)
{
neighbours.Add(new DijkstraTile(new Vector2Int(tile.getVector2d().x - 1, tile.getVector2d().y), Vector3.zero));
}
if (tile.getVector2d().y > 0)
{
neighbours.Add(new DijkstraTile(new Vector2Int(tile.getVector2d().x, tile.getVector2d().y - 1), Vector3.zero));
}
if (tile.getVector2d().x < gridSize.x - 1)
{
neighbours.Add(new DijkstraTile(new Vector2Int(tile.getVector2d().x + 1, tile.getVector2d().y), Vector3.zero));
}
if (tile.getVector2d().y < gridSize.y - 1)
{
neighbours.Add(new DijkstraTile(new Vector2Int(tile.getVector2d().x, tile.getVector2d().y + 1), Vector3.zero));
}
return(neighbours);
}
// Update is called once per frame
void FixedUpdate()
{
DijkstraTile currentTile = worldGrid.NodeFromWorldPoint(agentPosition.position);
if (this.lastValidTile == null)
{
this.lastValidTile = currentTile;
}
if (currentTile.getFlowFieldVector().Equals(Vector2Int.zero))
{
Vector2Int flowVector = this.lastValidTile.getVector2d() - currentTile.getVector2d();
Vector3 moveDir = new Vector3(flowVector.x, 0, flowVector.y).normalized;
rb.AddForce(moveDir * Time.deltaTime * force, ForceMode.Force);
//transform.position += moveDir * Time.deltaTime;
}
else
{
this.lastValidTile = currentTile;
Vector2Int flowVector = currentTile.getFlowFieldVector();
Vector3 moveDir = new Vector3(flowVector.x, 0, flowVector.y).normalized;
rb.AddForce(moveDir * Time.deltaTime * force, ForceMode.Force);
}
}
