public List <oNoeud> GetNeighbours(oNoeud node)
{
List <oNoeud> neighbours = new List <oNoeud>();
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
if (x == 0 && y == 0)
{
continue;
}
int checkX = node.gridX + x;
int checkY = node.gridY + y;
if (checkX >= 0 && checkX < mapGenerator.largeur && checkY >= 0 && checkY < mapGenerator.hauteur)
{
neighbours.Add(grid[checkX, checkY]);
}
}
}
return(neighbours);
}
int GetDistance(oNoeud nodeA, oNoeud 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));
}
public void CreateGrid()
{
grid = new oNoeud[mapGenerator.largeur, mapGenerator.hauteur];
for (int x = 0; x < mapGenerator.largeur; x++)
{
for (int y = 0; y < mapGenerator.hauteur; y++)
{
bool walkable = mapGenerator.tuilesMap[y, x] != MapGenerator.TypeTuile.Eau;
bool arbre = mapGenerator.arbreSurPosition(new Vector2(x, y)) != null;
grid[x, y] = new oNoeud(walkable, arbre, x, y);
}
}
}
List <oNoeud> RetracePath(oNoeud startNode, oNoeud endNode)
{
List <oNoeud> path = new List <oNoeud>();
oNoeud currentNode = endNode;
while (currentNode != startNode)
{
path.Add(currentNode);
currentNode = currentNode.parent;
}
path.Reverse();
return(path);
}
public List <Vector2> FindPath(Vector2 startPos, Vector2 targetPos, bool arbreBloque)
{
oNoeud startNode = grid.NodeFromWorldPoint(startPos);
oNoeud targetNode = grid.NodeFromWorldPoint(targetPos);
List <oNoeud> openSet = new List <oNoeud>();
HashSet <oNoeud> closedSet = new HashSet <oNoeud>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
oNoeud node = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].fCost < node.fCost || (openSet[i].fCost == node.fCost && openSet[i].hCost < node.hCost))
{
if (openSet[i].hCost < node.hCost)
{
node = openSet[i];
}
}
}
openSet.Remove(node);
closedSet.Add(node);
//Chemin trouvé
if (node == targetNode)
{
List <oNoeud> noeudsCheminFinal = RetracePath(startNode, targetNode);
List <Vector2> cheminFinal = new List <Vector2>();
foreach (oNoeud noeud in noeudsCheminFinal)
{
cheminFinal.Add(new Vector2(noeud.gridX, noeud.gridY));
}
return(cheminFinal);
}
foreach (oNoeud neighbour in grid.GetNeighbours(node))
{
//Verification du type de case
if (!neighbour.walkable || (arbreBloque && neighbour.arbre) || closedSet.Contains(neighbour))
{
continue;
}
//Verification de la diagonale dans les murs
Vector2 differencePositionsVoisinSoi = (new Vector2(neighbour.gridX, neighbour.gridY) - new Vector2(node.gridX, node.gridY));
if (!grid.NodeFromWorldPoint(new Vector2(node.gridX + differencePositionsVoisinSoi.x, node.gridY)).walkable ||
!grid.NodeFromWorldPoint(new Vector2(node.gridX, node.gridY + differencePositionsVoisinSoi.y)).walkable)
{
continue;
}
//Vérification des diagonale dans les murs si c'est un arbre dans la diagonale
if (arbreBloque &&
(grid.NodeFromWorldPoint(new Vector2(node.gridX + differencePositionsVoisinSoi.x, node.gridY)).arbre ||
grid.NodeFromWorldPoint(new Vector2(node.gridX, node.gridY + differencePositionsVoisinSoi.y)).arbre))
{
continue;
}
//Verification des voisins
int newCostToNeighbour = node.gCost + GetDistance(node, neighbour);
if (newCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = node;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
return(new List <Vector2>());
}
