public List <Tile> FindPath(Vector3 startPos, Vector3 endPos)
{
Tile startTile = generator.TileFromWorldPoint(startPos);
Tile endTile = generator.TileFromWorldPoint(endPos);
List <Tile> openSet = new List <Tile>();
HashSet <Tile> closedSet = new HashSet <Tile>();
openSet.Add(startTile);
while (openSet.Count > 0)
{
Tile currentTile = openSet[0];
foreach (Tile t in openSet)
{
if (t.fScore < currentTile.fScore || t.fScore == currentTile.fScore && t.hScore < currentTile.hScore)
{
currentTile = t;
}
}
openSet.Remove(currentTile);
closedSet.Add(currentTile);
if (currentTile == endTile)
{
ReconstructPath(startTile, endTile);
return(path);
}
List <Tile> neighbours = generator.GetNeighbours(currentTile);
foreach (Tile neighbour in neighbours)
{
if (neighbour.tileType == TileType.Type.ROCK || closedSet.Contains(neighbour))
{
continue;
}
int newGScore = currentTile.gScore + GetDistance(currentTile, neighbour);
if (newGScore < currentTile.gScore || !openSet.Contains(neighbour))
{
neighbour.gScore = newGScore;
neighbour.hScore = GetDistance(neighbour, endTile);
neighbour.parent = currentTile;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
return(null);
}
public override int DoLogic()
{
float trueSpeed = btree.btRuntimeBlackboard.blackboard["TrueSpeed"];
if (hungerManager.closerFood == null || path != null && path.Count == 0)
{
path = null;
btree.btRuntimeParams.boolParams["WanderingEnabled"] = true;
return((int)Result.FAILURE);
}
// Move towards the closest food in the view field if is reachable
bool targetMoved = false;
if (path != null)
{
Tile closerFoodTile = ground.TileFromWorldPoint(hungerManager.closerFood.transform.position);
if (closerFoodTile != path[path.Count - 1])
{
targetMoved = true;
}
}
if (path == null || targetFood != hungerManager.closerFood || targetMoved)
{
// Find a path to the closer food and disable wandering behaviour
targetFood = hungerManager.closerFood;
Vector3 closerFoodPos = targetFood.transform.position;
path = aStar.FindPath(go.transform.position, closerFoodPos);
currentIndex = 0;
if (path.Count <= 0)
{
// Already reached destination
return((int)Result.SUCCESS);
}
currentTile = path[currentIndex];
btree.btRuntimeParams.boolParams["WanderingEnabled"] = false;
}
else
{
// Actual movement following the path found
if (go.transform.position == currentTile.tilePosition)
{
if (currentTile == path[path.Count - 1])
{
// Destination reached
path = null;
return((int)Result.SUCCESS);
}
else
{
currentIndex++;
currentTile = path[currentIndex];
}
}
go.transform.position = Vector3.MoveTowards(go.transform.position, currentTile.tilePosition, trueSpeed * 1.65f * Time.deltaTime);
}
// Keep moving
return((int)Result.FAILURE);
}
public override int DoLogic()
{
// Escape in the opposite direction of the threat incoming
float trueSpeed = btree.btRuntimeBlackboard.blackboard["TrueSpeed"];
float threatDist = btree.btRuntimeBlackboard.blackboard["ThreatDistance"];
// Check in a range equals to the threat distance to get the direction
Collider2D threat = Physics2D.OverlapCircle(go.transform.position, threatDist, LayerMask.GetMask("Dinosaur"));
Vector3 threatDir = (threat.transform.position - go.transform.position).normalized;
Vector3 threatDirRotateLeft = (Quaternion.Euler(0, 0, 115) * -threatDir).normalized;
Vector3 threatDirRotateRight = (Quaternion.Euler(0, 0, -115) * -threatDir).normalized;
Debug.DrawRay(go.transform.position, -threatDir);
Debug.DrawRay(go.transform.position, threatDir);
Debug.DrawRay(go.transform.position, threatDirRotateLeft, Color.yellow);
Debug.DrawRay(go.transform.position, threatDirRotateRight, Color.green);
if (targetTile != null)
{
// Keep moving to the target tile
if (go.transform.position == currentTile.tilePosition)
{
if (currentTile == path[path.Count - 1])
{
// We have reached the safe place
path = null;
targetTile = null;
btree.btRuntimeParams.boolParams["GoingSafe"] = false;
btree.btRuntimeParams.boolParams["Escaping"] = false;
}
else
{
currentIndex++;
currentTile = path[currentIndex];
}
}
go.transform.position = Vector3.MoveTowards(go.transform.position, currentTile.tilePosition, trueSpeed * 1.8f * Time.deltaTime);
}
else
{
// Select a random tile at the opposite direction
Tile[,] grid = ground.tiles;
Tile myTile = ground.TileFromWorldPoint(go.transform.position);
List <Tile> selectedTiles = new List <Tile>();
int neighbourX;
int neighbourY;
for (int x = -2; x <= 2; x++)
{
for (int y = -2; y <= 2; y++)
{
neighbourX = myTile.xPos + x;
neighbourY = myTile.yPos + y;
if (x == 0 && y == 0 || neighbourX < 0 || neighbourX >= ground.columns || neighbourY < 0 || neighbourY >= ground.rows)
{
// Avoid our tile and those one that go outside the grid
continue;
}
if (Random.value >= 0.5 && selectedTiles.Count < 5)
{
selectedTiles.Add(grid[neighbourX, neighbourY]);
}
}
if (selectedTiles.Count == 5)
{
break;
}
}
while (targetTile == null && selectedTiles.Count > 0)
{
targetTile = selectedTiles[selectedTiles.Count - 1];
if (targetTile.tileType != TileType.Type.ROCK && targetTile.tileType != TileType.Type.HOME)
{
Vector3 tileDir = (targetTile.tilePosition - go.transform.position).normalized;
float dotThreatTile = Vector3.Dot(-threatDir, tileDir);
if (dotThreatTile > Mathf.Cos(Mathf.Deg2Rad * 115))
{
// Good tile for escaping
break;
}
}
// The tile selected isn't eligible
targetTile = null;
selectedTiles.RemoveAt(selectedTiles.Count - 1);
}
if (targetTile != null)
{
Debug.DrawLine(go.transform.position, targetTile.tilePosition, Color.cyan);
btree.btRuntimeParams.boolParams["GoingSafe"] = true;
btree.btRuntimeParams.boolParams["Escaping"] = true;
Debug.Log(go.name.ToUpper() + " is escaping!");
path = aStar.FindPath(go.transform.position, targetTile.tilePosition);
currentIndex = 0;
currentTile = path[currentIndex];
}
}
// We return always success because we want to save our life
return((int)Result.SUCCESS);
}