Merge branch 'NPC' into main

Assets/Scripts/NPC.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
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+guid: ef793abf4edd2e04b8782a5259797638
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}

Assets/Scripts/NPC/NPCController.cs

@@ -0,0 +1,44 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class NPCController : MonoBehaviour
+{
+
+    PathMap Map;
+    private GameObject[,] ball;
+    public List<PathNode> path;
+    private int rows;
+    [SerializeField] Vector3 startPoint;
+    [SerializeField] Vector3 endPoint;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        startPoint = new Vector3(0,0,0);
+        endPoint = new Vector3(100,0,100);
+        rows = 45;
+        Map = new PathMap(new Vector3(0, 0, 0), rows, rows, 100);
+        Debug.Log("yeet");
+        Map.setupMapWithNextLayer();
+        //Looking through the low res search
+        //path = Map.QueryNodes(startPoint,endPoint);
+        if (path != null) {
+            for (int i = 0; i < path.Count - 1; i++) {
+                int x = path[i].index.x;
+                int y = path[i].index.y;
+                Debug.Log(path[i].index);
+                Debug.Log(path[i].Position);
+                GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Cube);
+                sphere.transform.position = Map.map[x, y].Position;
+            }
+        }
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+}

Assets/Scripts/NPC/NPCController.cs.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 0f50f0a081672ea4a9bc9f13de003f0a
+guid: ef9b1c03bb478e84b931f1cbb3bbab8c
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   externalObjects: {}
   serializedVersion: 2

Assets/Scripts/NPC/PathMap.cs

@@ -0,0 +1,520 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class PathMap
+{
+
+
+    private Vector3 position;
+    public PathNode[,] map;
+    public PathMap parent;
+    public Vector2Int parentIndex;
+
+    private int rows = 100;
+    private int cols = 100;
+    private float spacing = 1f;
+    private float height = 0;
+    public Terrain t;
+    private float w, h;
+    private bool divided = false;
+
+    private List<PathNode> openList;
+    private List<PathNode> closedList;
+
+    private List<PathNode> path;
+
+
+
+
+
+
+
+    public PathMap(Vector3 Position, int Rows, int Cols, float Width)
+    {
+        setup(Position, Rows, Cols, Width);
+
+
+    }
+    public void setupMap()
+    {
+        Generate();
+        //Add the references to the neighbors of all nodes
+        AddAllNeighbors();
+
+
+    }
+    private void setup(Vector3 Position, int Rows, int Cols, float Width)
+    {
+        position = Position;
+        rows = Rows;
+        cols = Cols;
+        w = Width;
+        spacing = w / rows;
+
+        //Array of all pathnodes in this chunk.
+        map = new PathNode[rows, cols];
+
+
+        //only for debugging
+
+
+
+        openList = new List<PathNode>();
+        closedList = new List<PathNode>();
+
+        //Path that will be returned at the end.
+        path = new List<PathNode>();
+
+    }
+    public void setupMapWithNextLayer()
+    {
+        Generate();
+        AddAllNeighbors();
+        //addNextLayer();
+        
+        //Add the references to the neighbors of all nodes
+
+
+    }
+    public void Generate()
+    {
+        //Add all nodes into the map.
+        for (int r = 0; r < rows; r++)
+        {
+            for (int c = 0; c < cols; c++)
+            {
+                PathNode node = new PathNode();
+                node.Position = new Vector3(this.position.x + r * spacing, this.position.y + height, this.position.z + c * spacing);
+                node.index = new Vector2Int(r, c);
+                node.ConditionWeight = 1 + (float)Random.Range(1, 1000) / 1000;
+                map[r, c] = node;
+
+            }
+        }
+
+
+    }
+
+    public List<PathNode> QueryNodes(Vector3 Vstart, Vector3 Vend)
+    {
+        bool finished = false;
+
+        PathNode start = FindClosestNode(Vstart);
+        start.Gscore = 0;
+        PathNode end = FindClosestNode(Vend);
+        Debug.Log(start);
+        Debug.Log("Searching a path from " + start.Position + " to " + end.Position);
+        openList.Add(start);
+
+        PathNode current;
+        int d = 0;
+        while (!finished)
+        {
+            d++;
+            if (d > 1000)
+            {
+                Debug.Log("Too many trys");
+                return null;
+            }
+            int winner = 0;
+            for (int i = 0; i < openList.Count; i++)
+            {
+
+                if (openList[i].Fscore < openList[winner].Fscore) winner = i;
+            }
+            current = openList[winner];
+            openList.RemoveAt(winner);
+            closedList.Add(current);
+
+
+
+            if (current != end)
+            {
+                foreach (PathNode p in current.neigbors)
+                {
+                    if (!closedList.Contains(p) && !p.Blocked)
+                    {
+                        float tempG = current.Gscore + heuristic(p, current);
+                        bool newPath = false;
+                        if (openList.Contains(p))
+                        {
+                            if (tempG < p.Gscore)
+                            {
+                                p.Gscore = tempG;
+                                newPath = true;
+                            }
+                        }
+                        else
+                        {
+                            p.Gscore = tempG;
+                            newPath = true;
+                            openList.Add(p);
+                        }
+                        if (newPath)
+                        {
+                            p.Hscore = heuristic(p, end);
+                            p.Fscore = p.Gscore + p.Hscore;
+                            p.Previous = current;
+                        }
+
+                    }
+
+                }
+            }
+            else
+            {
+                Debug.Log("Path Has Been Found");
+                PathNode temp = end;
+                path.Add(temp);
+                while (temp.Previous != null)
+                {
+                    path.Add(temp.Previous);
+                    temp = temp.Previous;
+                }
+                path.Add(start);
+                finished = true;
+                return path;
+            }
+        }
+        return null;
+    }
+
+    public List<PathNode> LowerQueryNodes(Vector3 Vstart, Vector3 Vend, PathNode[] parentPath)
+    {
+        bool finished = false;
+
+        PathNode start = FindClosestNode(Vstart);
+        start.Gscore = 0;
+        PathNode end = FindClosestNode(Vend);
+
+        Debug.Log("Searching a path from " + start.Position + " to " + end.Position + " but through the lower level.");
+        openList.Add(start);
+
+        PathNode current;
+        int d = 0;
+        while (!finished)
+        {
+            d++;
+            if (d > 1000)
+            {
+                Debug.Log("Too many trys");
+                return null;
+            }
+            int winner = 0;
+            for (int i = 0; i < openList.Count; i++)
+            {
+
+                if (openList[i].Fscore < openList[winner].Fscore) winner = i;
+            }
+            current = openList[winner];
+            openList.RemoveAt(winner);
+            closedList.Add(current);
+
+            if (current != end)
+            {
+                foreach (PathNode p in current.neigbors)
+                {
+                    if (!closedList.Contains(p) && !p.Blocked)
+                    {
+                        float tempG = current.Gscore + heuristic(p, current);
+                        bool newPath = false;
+                        if (openList.Contains(p))
+                        {
+                            if (tempG < p.Gscore)
+                            {
+                                p.Gscore = tempG;
+                                newPath = true;
+                            }
+                        }
+                        else
+                        {
+                            p.Gscore = tempG;
+                            newPath = true;
+                            openList.Add(p);
+                        }
+                        if (newPath)
+                        {
+                            p.Hscore = heuristic(p, end);
+                            p.Fscore = p.Gscore + p.Hscore;
+                            p.Previous = current;
+                        }
+
+                    }
+
+                }
+            }
+            else
+            {
+                Debug.Log("Path Has Been Found");
+                PathNode temp = end;
+                path.Add(temp);
+                while (temp.Previous != null)
+                {
+                    path.Add(temp.Previous);
+                    temp = temp.Previous;
+                }
+                path.Add(start);
+                finished = true;
+                return path;
+            }
+        }
+        return null;
+    }
+
+    /*    public void setupNeighborsLower() {
+            //schleife f<>r alle parent Nodes
+            for (int i = 0; i < rows;i++) {
+                for (int j = 0; j < rows;j++)
+                {
+                    for (int x = 0; x < rows; x++)
+                    {
+                        for (int y = 0; y < cols; y++)
+                        {
+                            //looking left and right and top and bottom
+                            for (int x = -1; x <= 1; x++)
+                            {
+                                for (int y = -1; y <= 1; y++)
+                                {
+                                    if (x != 0 && y != 0)
+                                    {
+                                        if (!indexOutOfBounds(index.x + x, index.y + y, rows, cols))
+                                        {
+                                            map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x + x, (int)index.y + y]);
+                                        }
+                                        else
+                                        {
+                                            //Rechts
+                                            if (x == 1 && y == 0)
+                                            {
+
+
+                                            }
+                                            //Links
+                                            if (x == -1 && y == 0)
+                                            {
+
+
+                                            }
+                                            //Oben
+                                            if (x == 0 && y == -1)
+                                            {
+
+
+                                            }
+                                            //Unten
+                                            if (x == 0 && y == 1)
+                                            {
+
+
+                                            }
+
+                                            //Diagonal
+
+                                            //Oben-Rechts
+                                            if (x == 1 && y == -1)
+                                            {
+
+
+                                            }
+                                            //Unten-Rechts
+                                            if (x == 1 && y == 1)
+                                            {
+
+
+                                            }
+                                            //Unten-Links
+                                            if (x == -1 && y == 1)
+                                            {
+
+
+                                            }
+                                            //Oben-Links
+                                            if (x == -1 && y == -1)
+                                            {
+
+
+                                            }
+
+
+                                        }
+                                    }
+                                }
+
+                            }
+
+                        }
+
+                    }
+                }
+
+
+
+                }
+
+
+
+            }
+
+
+        }*/
+
+
+    public void addNextLayer()
+    {
+
+
+        PathNode[,] full = new PathNode[rows * rows, cols * cols];
+        for (int i = 0; i < rows * rows; i++)
+        {
+            for (int j = 0; j < cols * cols; j++)
+            {
+
+                PathNode node = new PathNode();
+                node.Position = new Vector3(this.position.x + i * spacing/rows,this.position.y,this.position.z + j * spacing/cols);
+                full[i, j] = node;
+
+            }
+
+        }
+        for (int i = 0; i < rows * rows; i++)
+        {
+            for (int j = 0; j < cols * cols; j++)
+            {
+                for (int x = -1; x <= 1; x++)
+                {
+                    for (int y = -1; y <= 1; y++)
+                    {
+                        if (!(x == 0 && y == 0))
+                        {
+                            if (!indexOutOfBounds(i + x, j + y, rows * rows, cols * cols))
+                            {
+                                //try
+                                //{
+                                    full[i, j].neigbors.Add(full[i + x, j + y]);
+                                //} 
+                                //catch
+                                //{
+                                //    Debug.Log("poggers");
+                                //}
+                            }
+                        }
+                    }
+                }
+
+            }
+
+        }
+        
+
+        for (int r = 0; r < rows; r++)
+        {
+            for (int c = 0; c < cols; c++)
+            {
+                PathNode node = map[r, c];
+                Vector3 pos = node.Position;
+                node.lowerLevel = new PathMap(pos, rows, cols, spacing);
+                for (int i = 0; i < rows; i++)
+                {
+                    for (int j = 0; j < cols; j++)
+                    {
+                        PathNode n = full[r*rows+i,c*cols + j];
+                        Debug.Log(n);
+                        node.lowerLevel.map[i,j].index = new Vector2Int(i, j);
+                        node.ConditionWeight = 1 + (float)Random.Range(1, 1000) / 1000;
+                        node.lowerLevel.map[i, j] = node;
+
+                    }
+                }
+                node.lowerLevel.parent = this;            
+
+                node.HasLowerLevel = true;
+
+            }
+        }
+
+        divided = true;
+    }
+    private float heuristic(PathNode p1, PathNode p2)
+    {
+        //Calculates the HScore for a node.
+        float dist = Vector3.Distance(p1.Position, p2.Position) / 2;
+        float dist1 = dist * p1.ConditionWeight;
+        float dist2 = dist * p2.ConditionWeight;
+
+        return dist1 + dist2;
+
+    }
+private PathNode FindClosestNode(Vector3 pos)
+    {
+        if (pos.x > 0 && pos.x < rows * spacing && pos.z > 0 && pos.z < cols * spacing && false)
+        {
+
+            return map[Mathf.RoundToInt(pos.x / spacing), Mathf.RoundToInt(pos.z / spacing)];
+        }
+        Vector2Int best = new Vector2Int(0, 0);
+
+        for (int r = 0; r < rows; r++)
+        {
+            for (int c = 0; c < cols; c++)
+            {
+                if (Vector3.Distance(map[best.x, best.y].Position, pos) > Vector3.Distance(map[r, c].Position, pos))
+                {
+                    best.Set(r, c);
+                }
+
+            }
+        }
+        return map[best.x, best.y];
+    }
+    private void AddAllNeighbors()
+    {
+        for (int r = 0; r < rows; r++)
+        {
+            for (int c = 0; c < cols; c++)
+            {
+                AddNeighbors(new Vector2Int(r, c));
+            }
+        }
+
+    }
+
+    private void lookThroughLowerLevel()
+    {
+
+
+    }
+    private bool indexOutOfBounds(int x, int y, int rows, int cols)
+    {
+        if (x < 0 || x >= rows || y < 0 || y >= cols)
+        {
+            return true;
+        }
+        return false;
+    }
+    private void AddNeighbors(Vector2Int index)
+    {
+        for (int x = -1; x <= 1; x++)
+        {
+            for (int y = -1; y <= 1; y++)
+            {
+                if (!(x == 0 && y == 0))
+                {
+                    if (x == 0 || y == 0)
+                    {
+                        if (!indexOutOfBounds(index.x + x, index.y + y, rows, cols))
+                        {
+                            map[index.x, index.y].neigbors.Add(map[index.x + x, index.y + y]);
+
+                        }
+                    }
+                }
+            }
+        }
+
+      
+
+
+    }
+
+}

Assets/Scripts/NPC/PathNode.cs

@@ -0,0 +1,44 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class PathNode
+{
+
+    private Vector3 position;
+    public Vector2Int index;
+    public Vector2Int parentIndex;
+    private float scoreF;
+    private float scoreG;
+    private float scoreH;
+    public List<PathNode> neigbors;
+    public PathMap lowerLevel;
+    private bool hasLowerLevel = false;
+    private float conditionWeight = 1f;
+    private PathNode previous;
+    private bool blocked;
+
+
+    public PathNode()
+    {
+        neigbors = new List<PathNode>();
+        position = Vector3.zero;
+        scoreG = Mathf.Infinity;
+        scoreF = Mathf.Infinity;
+        scoreH = Mathf.Infinity;
+    }
+
+    public void activateNextLevel()
+    {
+
+    }
+
+    public Vector3 Position { get => position; set => position = value; }
+    public float Hscore { get => scoreH; set => scoreH = value; }
+    public float Gscore { get => scoreG; set => scoreG = value; }
+    public float Fscore { get => scoreF; set => scoreF = value; }
+    public PathNode Previous { get => previous; set => previous = value; }
+    public float ConditionWeight { get => conditionWeight; set => conditionWeight = value; }
+    public bool Blocked { get => blocked; set => blocked = value; }
+    public bool HasLowerLevel { get => hasLowerLevel; set => hasLowerLevel = value; }
+}

Assets/Scripts/NPC/PathNode.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8c0191b07f1e4654d9dd893623534cb6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/PathGenerator.cs

@@ -1,17 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class PathNode
-{
-
-    private Vector3 position;
-    public Vector2 index;
-    private float score;
-    public PathNode(Vector3 Pos, float Score) {
-
-        position = Pos;
-        score = Score;
-    }
-    public Vector3 Position { get => position; set => position = value; }
-}

Assets/Scripts/PathMap.cs

@@ -1,119 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class PathMap : MonoBehaviour
-{
-    private Vector3 position;
-    private PathNode[,] map;
-    private GameObject[,] ball;
-    private int rows = 40;
-    private int cols = 40;
-    private float spacing = 1f;
-    private float height = 0;
-
-    private PathNode[] uncheckedNodes;
-    private List<PathNode> openList;
-    private List<PathNode> closedList;
-    private List<PathNode> nextList;
-
-    void Start()
-    {
-        map = new PathNode[40, 40];
-        ball = new GameObject[rows, cols];
-        openList = new List<PathNode>();
-        closedList = new List<PathNode>();
-        nextList = new List<PathNode>();
-
-        for (int r = 0; r < rows; r++)
-        {
-            for (int c = 0; c < cols; c++)
-            {
-                PathNode node = new PathNode(new Vector3(r * spacing, height, c * spacing), 1f);
-                node.index = new Vector2(r,c);
-                map[r, c] = node;
-
-            }
-        }  
-
-
-        for (int r = 0; r < rows; r++)
-        {
-            for (int c = 0; c < cols; c++)
-            {
-                GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-                sphere.transform.position = map[r,c].Position;
-                ball[r,c] = sphere;
-
-            }
-        }
-        FindClosestNode(new Vector3(0.7f,2,0.7f));
-    }
-    private void AddAllNeigbors(Vector2 index) {
-        if ((int)index.x - 1 >= 0 && (int) index.y - 1 >= 0 && !openList.Contains(map[(int)index.x - 1, (int)index.y - 1])) {
-            openList.Add(map[(int)index.x - 1, (int)index.y - 1]);
-        }
-        if ((int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x, (int)index.y - 1]))
-        {
-            openList.Add(map[(int)index.x, (int)index.y - 1]);
-        }
-        if ((int)index.x + 1 <= rows && (int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x + 1, (int)index.y - 1]))
-        {
-            openList.Add(map[(int)index.x + 1, (int)index.y - 1]);
-        }
-
-        if ((int)index.x - 1 >= 0 && !openList.Contains(map[(int)index.x - 1, (int)index.y]))
-        {
-            openList.Add(map[(int)index.x - 1, (int)index.y]);
-        }
-        if ((int)index.x + 1 <= rows && (int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x + 1, (int)index.y]))
-        {
-            openList.Add(map[(int)index.x + 1, (int)index.y]);
-        }
-
-
-
-        if ((int)index.x - 1 >= 0 && (int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x - 1, (int)index.y + 1]))
-        {
-            openList.Add(map[(int)index.x - 1, (int)index.y + 1]);
-        }
-        if ((int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x, (int)index.y + 1]))
-        {
-            openList.Add(map[(int)index.x, (int)index.y + 1]);
-        }
-        if ((int)index.x + 1 <= rows && (int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x + 1, (int)index.y + 1]))
-        {
-            openList.Add(map[(int)index.x + 1, (int)index.y + 1]);
-        }
-
-    }
-    private PathNode FindClosestNode(Vector3 pos) {
-        if (pos.x > 0 && pos.x < rows * spacing && pos.z > 0 && pos.z < cols * spacing)
-        {
-            Destroy(ball[Mathf.RoundToInt(pos.x / spacing), Mathf.RoundToInt(pos.z / spacing)]);
-            return map[Mathf.RoundToInt(pos.x / 2), Mathf.RoundToInt(pos.z / 2)];
-        }
-        else {
-            return null;
-        }
-    }
-    public void QueryNodes() {
-        PathNode currentNode;
-        for (int r = 0; r < rows; r++)
-        {
-            for (int c = 0; c < cols; c++)
-            {
-                currentNode = map[r,c];
-
-            }
-        }
-
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-
-
-    }
-}