void Preparation()
{
//Clean Board
CleanBoard();
//Get used tile type
tileType = BoardManager.instance.tileType;
//Set up open list
openList = new List <TileScript>();
//Set origin's movement cost to 0 and add to open list
origin.movementCost = 0.0f;
openList.Add(origin);
//Go to next stage
stage = (PathfindingStage)((int)stage + 1);
}
void RetracePath()
{
//Set up retrace list
List <TileScript> retraceList = new List <TileScript>();
List <Vector3> posList = new List <Vector3>();
TileScript retraceTile = destination;
while (retraceTile != null)
{
if (retraceTile.state != TileState.Origin && retraceTile.state != TileState.Destination) //Do not replace color for these tiles
{
retraceTile.state = TileState.Path;
}
retraceList.Add(retraceTile);
posList.Add(retraceTile.transform.position);
if (retraceTile == origin)
{
break;
}
retraceTile = retraceTile.parentTile;
}
//Draw Retrace Line
if (posList.Count <= 1) //No Solution
{
retraceLine.gameObject.SetActive(false);
}
else
{
retraceLine.positionCount = posList.Count;
retraceLine.SetPositions(posList.ToArray());
retraceLine.gameObject.SetActive(true);
}
//Go to next stage
stage = (PathfindingStage)((int)stage + 1);
}
void SearchingOpenList()
{
//While open list is not empty
if (openList.Count > 0 && !destination.isChecked)
{
//Set current tile as first in the list
TileScript currentTile = openList[0];
//Find tile with smallest movement cost
for (int i = 1; i < openList.Count; i++)
{
float newHeuristic = 0.0f;
float curHeuristic = 0.0f;
if (algorithm == PathfindingAlgorithm.AStar)
{
if (tileType == TileType.Square)
{
Square newSqr = ((SquareScript)openList[i]).position;
Square curSqr = ((SquareScript)currentTile).position;
newHeuristic = newSqr.GetHeuristic(destination.x, destination.y);
curHeuristic = curSqr.GetHeuristic(destination.x, destination.y);
}
else if (tileType == TileType.Hex)
{
Hex newHex = ((HexScript)openList[i]).position;
Hex curHex = ((HexScript)currentTile).position;
newHeuristic = newHex.GetHeuristic(destination.x, destination.y);
curHeuristic = curHex.GetHeuristic(destination.x, destination.y);
}
newHeuristic *= weight;
curHeuristic *= weight;
}
if (openList[i].movementCost + newHeuristic < currentTile.movementCost + curHeuristic)
{
currentTile = openList[i];
}
}
//Remove current tile from open list
currentTile.isChecked = true;
openList.Remove(currentTile);
if (tileType == TileType.Square)
{
//Get neighbours of current tile
Square s = ((SquareScript)currentTile).position;
Square[] neighbours = s.GetNeighbours();
for (int i = 0; i < neighbours.Length; i++)
{
//Check if coordinate is valid
if
(
neighbours[i].y < 0 || neighbours[i].y >= tileBoard.GetLength(0) ||
neighbours[i].x < 0 || neighbours[i].x >= tileBoard.GetLength(1)
)
{
continue;
}
//Transform coordinate back to TileScript
TileScript neighbour = BoardManager.instance.GetTile(neighbours[i].x, neighbours[i].y);
//Skip if neighbour doesn't exist
if (neighbour == null)
{
continue;
}
//Skip if neighbour is an obstacle
if (neighbour.isObstacle)
{
continue;
}
//Skip if crossing diagonal gaps
if (checkDiagonals && !canCrossDiagonalGaps && i % 2 != 0)
{
TileScript prevNeighbour = BoardManager.instance.GetTile(s.GetNeighbour(i - 1).x, s.GetNeighbour(i - 1).y);
TileScript nextNeighbour = BoardManager.instance.GetTile(s.GetNeighbour(i + 1).x, s.GetNeighbour(i + 1).y);
if (prevNeighbour.isObstacle && nextNeighbour.isObstacle) //Do not cross diagonal gaps
{
continue;
}
}
//Skip if neighbour is checked
if (neighbour.isChecked)
{
continue;
}
//New current tile's neighbour movement cost
float newCost = currentTile.movementCost + s.GetCost(i);
//If new cost is smaller, replace it and set parent tile
if (newCost < neighbour.movementCost)
{
neighbour.movementCost = newCost;
neighbour.parentTile = currentTile;
if (!openList.Contains(neighbour))
{
openList.Add(neighbour);
}
}
}
}
else if (tileType == TileType.Hex)
{
//Get neighbours of current tile
Hex h = ((HexScript)currentTile).position;
Hex[] neighbours = h.GetNeighbours();
for (int i = 0; i < neighbours.Length; i++)
{
//Check if coordinate is valid
if
(
neighbours[i].ToArrayPos(BoardManager.instance.boardSize).y < 0 || neighbours[i].ToArrayPos(BoardManager.instance.boardSize).y >= tileBoard.GetLength(0) ||
neighbours[i].ToArrayPos(BoardManager.instance.boardSize).x < 0 || neighbours[i].ToArrayPos(BoardManager.instance.boardSize).x >= tileBoard.GetLength(1)
)
{
continue;
}
//Transform coordinate back to TileScript
TileScript neighbour = BoardManager.instance.GetTile(neighbours[i].x, neighbours[i].y);
//Skip if neighbour doesn't exist
if (neighbour == null)
{
continue;
}
//Skip if neighbour is an obstacle
if (neighbour.isObstacle)
{
continue;
}
//Skip if neighbour is checked
if (neighbour.isChecked)
{
continue;
}
//New current tile's neighbour movement cost
float newCost = currentTile.movementCost + h.GetCost(i);
//If new cost is smaller, replace it and set parent tile
if (newCost < neighbour.movementCost)
{
neighbour.movementCost = newCost;
neighbour.parentTile = currentTile;
if (!openList.Contains(neighbour))
{
openList.Add(neighbour);
}
}
}
}
}
else
{
//Go to next stage
stage = (PathfindingStage)((int)stage + 1);
}
}
public void FindPath()
{
stage = PathfindingStage.Preparation;
isRunning = true;
isPaused = false;
}
