public OutdoorNode SidewalkEdgeNodeFromWorldPoint(Vector3 worldPosition)
{
if (grid == null)
{
Start();
}
float percentX = ((worldPosition.x - plane.transform.position.x) + gridWorldSize.x / 2) / gridWorldSize.x;
float percentY = ((worldPosition.z - plane.transform.position.z) + gridWorldSize.y / 2) / gridWorldSize.y;
percentX = Mathf.Clamp01(percentX);
percentY = Mathf.Clamp01(percentY);
int x = Mathf.RoundToInt((gridSizeX - 1) * percentX);
int y = Mathf.RoundToInt((gridSizeY - 1) * percentY);
if (grid [x, y].sidewalkEmptyEdge)
{
try
{
return(grid [x, y]);
}
catch (NullReferenceException)
{
Start();
return(grid [x, y]);
}
}
else
{ // Find the nearest sidewalk edge node
List <OutdoorNode> potentialEdgeNodes = new List <OutdoorNode>();
foreach (OutdoorNode node in GetCrossSection(6, grid[x, y]))
{
if (node.sidewalkEmptyEdge)
{
potentialEdgeNodes.Add(node);
}
}
if (potentialEdgeNodes.Count == 1)
{
return(potentialEdgeNodes [0]);
}
else if (potentialEdgeNodes.Count > 1)
{
float distance = 100;
OutdoorNode toReturn = potentialEdgeNodes [0];
foreach (OutdoorNode node in potentialEdgeNodes)
{
float newDistance = Vector3.Distance(node.worldPosition, grid [x, y].worldPosition);
if (newDistance < distance)
{
distance = newDistance;
toReturn = node;
}
}
return(toReturn);
}
}
return(new OutdoorNode());
}
public void GetOutdoorPath(Vector3 pos)
{
if (outdoorGrid == null)
{
outdoorGrid = GameObject.Find("OutdoorPlane").GetComponent <OutdoorGrid>();
}
outdoorTargetNode = outdoorGrid.NodeFromWorldPoint(pos);
OutdoorPathRequestManager.RequestPath(transform.position, pos, OnOutdoorPathFound);
}
int GetDistance(OutdoorNode nodeA, OutdoorNode nodeB)
{
int dstX = Mathf.Abs(nodeA.gridX - nodeB.gridX);
int dstY = Mathf.Abs(nodeA.gridY - nodeB.gridY);
if (dstX > dstY)
{
return(14 * dstY + 10 * (dstX - dstY));
}
return(14 * dstX + 10 * (dstY - dstX));
}
Vector3[] RetracePath(OutdoorNode startNode, OutdoorNode endNode)
{
List <OutdoorNode> path = new List <OutdoorNode>();
OutdoorNode currentNode = endNode;
while (currentNode != startNode)
{
path.Add(currentNode);
currentNode = currentNode.parent;
}
Vector3[] waypoints = SimplifyPath(path);
Array.Reverse(waypoints);
return(waypoints);
}
public OutdoorNode GetClosestWalkableNode(OutdoorNode toCheck, int distance, Vector3 seekerPos, Vector3 targetPos)
// Gets the closest walkable node from an unwalkable one. If a target is generated that is unwalkable, this will allow the customer to generate a path to the closest node available to it
// distance of 1 creates 3x3 node grid centered around the unwalkable node
// 2 creates 5x5, etc
{
print("GetClosestWalkable");
List <OutdoorNode> neighbours = new List <OutdoorNode>();
OutdoorNode lowest = new OutdoorNode();
for (int x = -distance; x <= distance; x++)
{
for (int y = -distance; y <= distance; y++)
{
if (x == 0 && y == 0)
{
continue;
}
int checkX = toCheck.gridX + x;
int checkY = toCheck.gridY + y;
if (checkX >= 0 && checkX < gridSizeX && checkY >= 0 && checkY < gridSizeY)
{
if (grid[checkX, checkY].walkable)
{
neighbours.Add(grid[checkX, checkY]);
}
}
}
}
List <OutdoorNode> walkableCloseNeighbours = new List <OutdoorNode> ();
if (neighbours.Count > 0)
{
// get closest node
}
else if (neighbours.Count == 0)
{
if (!(distance++ > 5))
{
return(GetClosestWalkableNode(toCheck, distance++, seekerPos, targetPos));
}
}
return(lowest);
}
public List <OutdoorNode> GetCrossSection(int units, OutdoorNode node)
{
List <OutdoorNode> neighbours = new List <OutdoorNode> ();
for (int x = -units; x <= units; x++)
{
for (int y = -units; y <= units; y++)
{
if (x == 0 && y == 0)
{
continue;
}
int checkX = node.gridX + x;
int checkY = node.gridY + y;
if (checkX >= 0 && checkX < gridSizeX && checkY >= 0 && checkY < gridSizeY)
{
neighbours.Add(grid[checkX, checkY]);
}
}
}
return(neighbours);
}
public void CreateGrid()
{
OutdoorNode[,] lastGrid = new OutdoorNode[gridSizeX, gridSizeY];
bool lastGridExists = false;
try
{
for (int i = 0; i < gridSizeX; i++)
{
for (int j = 0; j < gridSizeY; j++)
{
OutdoorNode refNode = grid[i, j];
lastGrid [i, j] = new OutdoorNode(refNode.empty, refNode.walkable, refNode.drivable, refNode.crosswalk, refNode.buildable, refNode.movementPenalty, refNode.worldPosition, i, j);
lastGridExists = true;
}
}
}
catch (Exception ex)
{
// print (ex);
// Just wait till next time the method calls
}
grid = new OutdoorNode[gridSizeX, gridSizeY];
Vector3 worldBottomLeft = transform.position - Vector3.right * gridWorldSize.x / 2 - Vector3.forward * gridWorldSize.y / 2;
List <OutdoorNode> buildableNodes = new List <OutdoorNode> ();
foreach (GameObject plane in buildablePlanes)
{
Destroy(plane.gameObject);
}
buildablePlanes.Clear();
for (int x = 0; x < gridSizeX; x++)
{
for (int y = 0; y < gridSizeY; y++)
{
Vector3 worldPoint = worldBottomLeft + Vector3.right * (x * nodeDiameter + nodeRadius) + Vector3.forward * (y * nodeDiameter + nodeRadius);
bool walkable = (Physics.CheckSphere(worldPoint, nodeRadius, sidewalkMask));
bool drivable = (Physics.CheckSphere(worldPoint, nodeRadius, roadMask));
bool crosswalk = (Physics.CheckSphere(worldPoint, nodeRadius, crosswalkMask));
bool buildable = (Physics.CheckSphere(worldPoint, nodeRadius, buildableMask));
int movementPenalty = 0;
if (drivable && !crosswalk)
{
movementPenalty = 2000;
}
else if (drivable && crosswalk)
{
movementPenalty = 5;
}
else if (walkable)
{
movementPenalty = 0;
}
else if (buildable)
{
movementPenalty = 25;
}
bool empty = false;
if (!Physics.CheckSphere(worldPoint, nodeRadius))
{
empty = true;
movementPenalty = 75;
}
grid [x, y] = new OutdoorNode(empty, walkable, drivable, crosswalk, buildable, movementPenalty, worldPoint, x, y);
if (buildable)
{
OutdoorNode toAdd = grid [x, y];
buildableNodes.Add(toAdd);
}
}
}
// ---------------------------------------------------
// Build the visible buildable zone
// ---------------------------------------------------
Vector2 bottomLeft = GetBottomLeft();
foreach (OutdoorNode oNode in buildableNodes)
{
GameObject newPlane = Instantiate(dm.gridPlanePrefab);
newPlane.name = "BuildableZone";
newPlane.tag = "BuildableZone";
newPlane.layer = 15;
newPlane.GetComponent <MeshRenderer> ().material = outdoorDefaultTileTexture;
newPlane.AddComponent <OutdoorNodePlane> ();
newPlane.GetComponent <OutdoorNodePlane> ().gridX = grid [oNode.gridX, oNode.gridY].gridX;
newPlane.GetComponent <OutdoorNodePlane> ().gridY = grid [oNode.gridX, oNode.gridY].gridY;
newPlane.transform.localScale = new Vector3(nodeDiameter / 10, .1f, nodeDiameter / 10);
OutdoorNode refNode = GetNodeFromGridIndex(oNode.gridX, oNode.gridY);
grid [refNode.gridX, refNode.gridY].buildable = true;
Vector3 planeLocation = grid [oNode.gridX, oNode.gridY].worldPosition;
newPlane.transform.position = new Vector3(planeLocation.x, storeBoundariesPlane.transform.position.y, planeLocation.z);
newPlane.transform.eulerAngles = new Vector3(0, 0, 0);
newPlane.transform.parent = storeBoundariesPlane.transform;
buildablePlanes.Add(newPlane);
}
// ---------------------------------------------------
CheckWalkable();
}
public OutdoorNode GetNodeFromReference(OutdoorNode ref_)
{
return(grid [ref_.gridX, ref_.gridY]);
}
int distanceFromBuildableZone = 12; // Max amount of nodes to be expanded per use
public int CreateEmptyGridPlanes()
{ // returns the distance that is being expanded
// Creates planes for the empty nodes surrounding the buildable zone (not every single empty node) w/ a distance of distanceFromBuildableZone
//int gridXMax = (int) dm.buildableDimensions.x;
//int gridZMax = (int) dm.buildableDimensions.y;
Vector2 buildableBottomLeft = Vector2.zero; // This will be the gridX and gridY of the node that is the bottom left of the buildable zone
float xPos = 100;
float zPos = -100;
foreach (GameObject FloorTile in buildablePlanes)
{
// the bottom left node is the lowest x value and highest z value of the edgenodes
if (FloorTile.transform.position.x < xPos)
{
buildableBottomLeft.x = FloorTile.GetComponent <OutdoorNodePlane> ().gridX;
xPos = FloorTile.transform.position.x;
}
if (FloorTile.transform.position.z > zPos)
{
buildableBottomLeft.y = FloorTile.GetComponent <OutdoorNodePlane> ().gridY;
zPos = FloorTile.transform.position.z;
}
}
foreach (OutdoorNode node in grid)
{
if (node.buildable)
{
if (node.gridY == grid[(int)buildableBottomLeft.x, (int)buildableBottomLeft.y].gridY)
{
for (int i = 0; i < distanceFromBuildableZone; i++)
{
GameObject newPlane = Instantiate(dm.gridPlanePrefab);
newPlane.name = "ExpandableNode";
newPlane.tag = "ExpandableZ";
newPlane.GetComponent <MeshRenderer> ().material = greenOutdoorNode_Transparent;
OutdoorNode expandableNodeRef = GetNodeFromGridIndex(node.gridX, node.gridY + (i + 1)); // Z direction
newPlane.AddComponent <OutdoorNodePlane>().gridX = expandableNodeRef.gridX;
newPlane.GetComponent <OutdoorNodePlane> ().gridY = expandableNodeRef.gridY;
newPlane.transform.localScale = new Vector3(nodeDiameter / 10, .1f, nodeDiameter / 10);
Vector3 planeLocation = expandableNodeRef.worldPosition;
newPlane.transform.position = new Vector3(planeLocation.x, storeBoundariesPlane.transform.position.y, planeLocation.z);
tempEmptyPlanes.Add(newPlane);
}
}
OutdoorNode refNode = GetNodeFromGridIndex((int)(buildableBottomLeft.x + dm.buildableDimensions.x + 1), (int)buildableBottomLeft.y);
if (node.gridX == refNode.gridX)
{
for (int i = 0; i < distanceFromBuildableZone; i++)
{
GameObject newPlane = Instantiate(dm.gridPlanePrefab);
newPlane.name = "ExpandableNode";
newPlane.tag = "ExpandableX";
newPlane.GetComponent <MeshRenderer> ().material = greenOutdoorNode_Transparent;
OutdoorNode expandableNodeRef = GetNodeFromGridIndex(node.gridX + (i + 2), node.gridY); // X direction
newPlane.AddComponent <OutdoorNodePlane> ().gridX = expandableNodeRef.gridX;
newPlane.GetComponent <OutdoorNodePlane> ().gridY = expandableNodeRef.gridY;
newPlane.transform.localScale = new Vector3(nodeDiameter / 10, .1f, nodeDiameter / 10);
Vector3 planeLocation = expandableNodeRef.worldPosition;
newPlane.transform.position = new Vector3(planeLocation.x, storeBoundariesPlane.transform.position.y, planeLocation.z);
tempEmptyPlanes.Add(newPlane);
}
}
}
}
return(distanceFromBuildableZone);
}
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
OutdoorNode startNode = grid.NodeFromWorldPoint(startPos);
OutdoorNode targetNode = grid.NodeFromWorldPoint(targetPos);
if (true)
{
Heap <OutdoorNode> openSet = new Heap <OutdoorNode>(grid.MaxSize);
HashSet <OutdoorNode> closedSet = new HashSet <OutdoorNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
OutdoorNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathSuccess = true;
break;
}
foreach (OutdoorNode neighbour in grid.GetNeighbours(currentNode))
{
int extraMovementPenalty = 0;
foreach (OutdoorNode neighbour_ in grid.GetNeighbours(neighbour))
{
if (neighbour_.drivable || neighbour_.empty)
{
extraMovementPenalty = 10;
}
}
if (closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty + extraMovementPenalty;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProcessingPath(waypoints, targetPos, pathSuccess);
}
