int moveCost(Node_K source, Node_K target)
{
float zCost = Mathf.Abs(target.myCoord.y - source.myCoord.y);
float xCost = Mathf.Abs(target.myCoord.x - source.myCoord.x);
if (xCost > zCost)
return Mathf.RoundToInt((14 * zCost) + 10*(xCost - zCost));
else
return Mathf.RoundToInt((14 * xCost) + 10 * (zCost - xCost));
}
public void createAIArea()
{
areaOfNodes = new Node_K[numSpheresX,numSpheresZ];
Vector3 startingCorner = new Vector3(gameObject.GetComponent<Collider>().bounds.min.x,gameObject.transform.position.y, gameObject.GetComponent<Collider>().bounds.min.z);
for (int x = 0; x < numSpheresX; x++)
{
for (int z = 0; z < numSpheresZ; z++)
{
Vector3 nodePos = startingCorner + new Vector3((nodeRadius * 2) * x + nodeRadius, 0.1f, (nodeRadius * 2) * z + nodeRadius);
bool canWalk = !Physics.CheckSphere(nodePos, nodeRadius, obstacle);
if(canWalk)
areaOfNodes[x,z] = new Node_K(nodePos, canWalk, new Vector2(x,z),1);
else
areaOfNodes[x, z] = new Node_K(nodePos, canWalk, new Vector2(x, z),10000);
}
}
}
public List<Node_K> neighbors(Node_K centerNode)
{
List<Node_K> neighborNodes = new List<Node_K>();
for (int x = -1; x < 2; x++)
{
for (int z = -1; z < 2; z++)
{
if (x == 0 && z == 0)
continue;
int xLimit = x + Mathf.RoundToInt(centerNode.myCoord.x);
int zLimit = z + Mathf.RoundToInt(centerNode.myCoord.y);
if (xLimit > -1 && zLimit > -1 && xLimit < numSpheresX && zLimit < numSpheresZ)
neighborNodes.Add(areaOfNodes[xLimit, zLimit]);
}
}
return neighborNodes;
}
void createPath(Node_K target)
{
LinkedList<Node_K> path = new LinkedList<Node_K>();
Node_K node = target;
while(node != null)
{
path.AddFirst(node);
node = node.parent;
}
AIarea.fringePath = path;
GameObject spherePath = GameObject.Find("SpherePathFringe");
if(spherePath.transform.FindChild("sphere"))
{
foreach (Transform child in spherePath.transform)
Destroy(child.gameObject);
}
foreach (Node_K n in path)
{
GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
sphere.layer = LayerMask.NameToLayer("black");
sphere.transform.parent = spherePath.transform;
sphere.GetComponent<Renderer>().material.color = Color.black;
sphere.transform.localScale = new Vector3(0.4f, 0.4f, 0.4f);
sphere.transform.position = n.myPos;
}
}
void reversePath(Node_K source, Node_K target)
{
List<Node_K> revPath = new List<Node_K>();
Node_K node = target;
while(node != source)
{
revPath.Add(node);
node = node.parent;
}
revPath.Reverse();
GameObject spherePath = GameObject.Find("SpherePathAStar");
if (spherePath.transform.FindChild("sphere"))
{
foreach (Transform child in spherePath.transform)
Destroy(child.gameObject);
}
foreach (Node_K n in revPath)
{
GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
sphere.layer = LayerMask.NameToLayer("red");
sphere.transform.parent = spherePath.transform;
sphere.GetComponent<Renderer>().material.color = Color.red;
sphere.transform.localScale = new Vector3(0.4f, 0.4f, 0.4f);
sphere.transform.position = n.myPos;
}
AIarea.aStarPath = revPath;
}
