public void AddDirection(GridPathNode node, int movementCost)
{
GridMovement gridMovement = new GridMovement(node, movementCost);
directions[directionCount] = gridMovement;
directionCount++;
}
private int GetLowest(NativeList <int> open)
{
GridPathNode lowest = nodes[open[0]];
for (int i = 0; i < open.Length; i++)
{
if (nodes[open[i]].sum < lowest.sum)
{
lowest = nodes[open[i]];
}
}
return(lowest.index);
}
public void AddDirection(GridPathNode node, int movementCost)
{
GridMovement gridMovement = new GridMovement(node, movementCost);
directions[directionCount] = gridMovement;
directionCount++;
}
public GridMovement(GridPathNode node, int movementCost)
{
this.node = node;
this.movementCost = movementCost;
}
public GridMovement(GridPathNode node, int movementCost)
{
this.node = node;
this.movementCost = movementCost;
}
public void Execute()
{
NativeArray <int2> neighbors = new NativeArray <int2>(8, Allocator.Temp);
neighbors[0] = new int2(-1, 0);
neighbors[1] = new int2(+1, 0);
neighbors[2] = new int2(0, +1);
neighbors[3] = new int2(0, -1);
neighbors[4] = new int2(-1, -1);
neighbors[5] = new int2(-1, +1);
neighbors[6] = new int2(+1, +1);
neighbors[7] = new int2(+1, -1);
for (int i = 0; i < nodes.Length; i++)
{
nodes[i].Init(CalcDistanceCost(nodes[i].position, end), gridSize.x);
}
int endNodeIndex = CalcIndex(end);
int startNodeIndex = CalcIndex(start);
nodes[startNodeIndex].SetCost(0);
NativeList <int> open = new NativeList <int>(Allocator.Temp)
{
startNodeIndex
};
int it = 0;
while (open.Length > 0 && it < 50)
{
it++;
int current = GetLowest(open);
GridPathNode currentN = nodes[current];
if (current == endNodeIndex)
{
//Debug.Log("Found Path");
break;
}
for (int i = 0; i < open.Length; i++)
{
if (open[i] == current)
{
open.RemoveAtSwapBack(i);
break;
}
}
nodes[current].Close();
for (int i = 0; i < neighbors.Length; i++)
{
int2 neighbor = neighbors[i];
int2 neighborposition = new int2(currentN.position.x + neighbor.x, currentN.position.y + neighbor.y);
if (!ValidPosition(neighborposition))
{
continue;
}
int neighborIndex = CalcIndex(neighborposition);
if (nodes[neighborIndex].closed || !nodes[neighborIndex].walkable)
{
continue;
}
int newCost = currentN.cost + CalcDistanceCost(currentN.position, neighborposition);
if (newCost < nodes[neighborIndex].cost)
{
nodes[neighborIndex].Update(current, newCost);
}
if (!open.Contains(neighborIndex))
{
open.Add(neighborIndex);
}
}
}
//Debug.Log("Didn't find a path");
neighbors.Dispose();
open.Dispose();
}
