/// <summary>
/// Ritorna la distanza euristica dei 2 nodi in parametro.
/// </summary>
/// <param name="nodeA"></param>
/// <param name="nodeB"></param>
/// <param name="_pathFindingSettings"></param>
/// <returns></returns>
public static int GetDistance(INode nodeA, INode nodeB, PathFindingSettings _pathFindingSettings)
{
if (nodeA == null || nodeB == null)
{
return(-10000);
}
int dstX = Mathf.Abs((int)nodeA.GetGridPosition().y - (int)nodeB.GetGridPosition().y);
int dstY = Mathf.Abs((int)nodeA.GetGridPosition().x - (int)nodeB.GetGridPosition().x);
if (dstX > dstY)
{
return(14 * dstY + 10 * (dstX - dstY));
}
return(14 * dstX + 10 * (dstY - dstX));
}
public void Init(CellDoomstock _startPos)
{
//transform.position = new Vector3(_startPos.GetWorldPosition().x, _startPos.GetWorldPosition().y - 0.5f, _startPos.GetWorldPosition().z);
_animator = GetComponent <Animator>();
switch (Type)
{
case enemyType.Tank:
pathFindingSettings = PathFindingSettings.Tank;
break;
case enemyType.Combattenti:
pathFindingSettings = PathFindingSettings.Tank;
break;
}
transform.DOMove(new Vector3(_startPos.GetWorldPosition().x, _startPos.GetWorldPosition().y - 0.5f, _startPos.GetWorldPosition().z - 0.4f), MovementSpeed).OnComplete(() =>
{
CurrentPosition = _startPos;
});
}
public static List <INode> FindPath(this IPathFinding _this, INode startNode, INode targetNode, PathFindingSettings _settings)
{
List <INode> openSet = new List <INode>();
HashSet <INode> closedSet = new HashSet <INode>();
openSet.Add(startNode);
// Ciclo la collezione open fino a quando ha elementi e scelgo quello con il costo minore per avanzare con la ricerca
while (openSet.Count > 0)
{
INode node = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].F_Cost < node.F_Cost || openSet[i].F_Cost == node.F_Cost)
{
if (openSet[i].H_Cost < node.H_Cost)
{
node = openSet[i];
}
}
}
openSet.Remove(node);
closedSet.Add(node);
// se il nodo attuale è uguale al target, ho raggiunto il target, ho terminato.
if (node == targetNode)
{
return(RetracePath(startNode, targetNode));
}
List <INode> nNodes = _this.GetNeighboursStar(node);
// ---------------------------------
// --------- Settings Eval ---------
//if (!_settings.CanJump) {
// nNodes = nNodes.Where(n => n.ContainsTag("walkable")).ToList<INode>();
//}
// ---------------------------------
foreach (INode neighbour in nNodes)
{
//if (!neighbour.isTraversable && !_settings.IgnoreObstacles || closedSet.Contains(neighbour)) {
// continue;
//}
if (closedSet.Contains(neighbour))
{
continue;
}
if (neighbour.isTraversable == false && neighbour != targetNode && _settings.IgnoreObstacles)
{
continue;
}
int newCostToNeighbour = node.G_Cost + GetDistance(node, neighbour, _settings);
if (newCostToNeighbour < neighbour.G_Cost || !openSet.Contains(neighbour))
{
neighbour.G_Cost = newCostToNeighbour;
neighbour.H_Cost = GetDistance(neighbour, targetNode, _settings);
neighbour.parent = node;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
return(new List <INode>());
}
