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);
}
// 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);
}
}
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);
}
