public AStarSearch(Grid3di map, Vec3di start, Vec3di goal, bool AllowDiagonal)
{
searchState = SearchState.NOT_INITIALISED;
curSolutionNode = null;
cancelRequested = false;
SetStartAndGoalStates(map, start, goal);
allowDiagonal = AllowDiagonal;
}
public Grid3di(Grid3di rhs)
{
_width = 0;
_height = 0;
_depth = 0;
_data = null;
CopyFrom(rhs);
}
void CopyFrom(Grid3di rhs)
{
_width = rhs._width;
_height = rhs._height;
_depth = rhs._depth;
Resize(_width, _height, _depth);
if (_width > 0 && _height > 0 && _depth > 0 && _data != null)
{
Array.Copy(rhs._data, _data, _width * _height * _depth);
}
_borderCode = rhs._borderCode;
}
public void ApplyToMap(Grid3di map, int emptyCode)
{
map.Resize(w * 3, h * 3, 1);
for (int Y = 0; Y < h; Y++)
{
for (int X = 0; X < w; X++)
{
Maze.Cell cell = GetAt(X, Y);
int x0 = X * 3;
int y0 = Y * 3;
// fill block
for (int y = y0; y < y0 + 3; y++)
{
for (int x = x0; x < x0 + 3; x++)
{
map.SetAt(x, y, map.BorderCode);
}
}
// empty field in the center
map.SetAt(x0 + 1, y0 + 1, emptyCode);
if (cell.right == false)
{
map.SetAt(x0 + 2, y0 + 1, emptyCode);
}
if (cell.left == false)
{
map.SetAt(x0 + 0, y0 + 1, emptyCode);
}
if (cell.upper == false)
{
map.SetAt(x0 + 1, y0 + 0, emptyCode);
}
if (cell.lower == false)
{
map.SetAt(x0 + 1, y0 + 2, emptyCode);
}
}
}
}
// Set Start and goal states
void SetStartAndGoalStates(Grid3di map, Vec3di start, Vec3di goal)
{
cancelRequested = false;
startNode = new SearchNode(new GridPosition(map, start.x, start.y, start.z));
endNode = new SearchNode(new GridPosition(map, goal.x, goal.y, goal.z));
searchState = SearchState.SEARCHING;
// Initialise the AStar specific parts of the Start Node
// The user only needs fill out the state information
startNode.g = 0;
startNode.h = startNode.position.EstimatedDistanceToNode(endNode.position);
startNode.f = startNode.g + startNode.h;
startNode.prevNode = null;
openNodes.Clear();
// Push the start node on the Open list
openNodes.Add(startNode); // heap now unsorted
// Initialise counter for search steps
searchSteps = 0;
}
static public void TestFunction()
{
String Map = "##############################" +
"# # # #" +
"# # ### # # # #" +
"# # #aaaaa# # # #" +
"# # #aaaaa# # # #" +
"# # #aaaaaa # # #" +
"# ### ####### # # #" +
"# # # #" +
"# # # #" +
"##############################";
Grid3di map = new Grid3di();
map.Resize(30, 10);
map.BorderCode = 99;
Dictionary <char, int> valueLookup = new Dictionary <char, int>();
valueLookup['#'] = map.BorderCode;
valueLookup[' '] = 0;
valueLookup['a'] = 1;
map.ParseLayerFromString(Map, valueLookup, 0);
Dictionary <int, char> codeLookup = new Dictionary <int, char>();
codeLookup[0] = '=';
codeLookup[map.BorderCode] = '@';
codeLookup[1] = 'a';
codeLookup[9] = '*'; // symbol for path
map.ShowDebugInfo(codeLookup);
List <Vec3di> solution = new List <Vec3di>();
AStarAgent pf = new AStarAgent();
pf.ownPosition = new Vec3di(2, 9, 0);
pf.map = map;
if (pf.FindPath(new Vec3di(28, 2, 0), solution, false) == AStarSearch.SearchState.SUCCEEDED)
{
Grid3di copy = new Grid3di(map);
int i = 1;
foreach (Vec3di step in solution)
{
//Zentronic.Debug.Log("step " + i + ":" + step.x + "/" + step.y);
i++;
copy.SetAt(step.x, step.y, step.z, 9);
}
copy.ShowDebugInfo(codeLookup);
}
else
{
Debug.LogError("unable to find path!");
}
}
public GridPosition(Grid3di Map, Vec3di p)
{
grid = Map;
pos = p;
}
public GridPosition(Grid3di Map, int px, int py, int pz)
{
grid = Map;
pos = new Vec3di(px, py, pz);
}
public GridPosition(Grid3di Map)
{
grid = Map;
pos = new Vec3di();
}
