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merged mit noah und juilius

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DerTyp187
2021-09-25 16:33:18 +02:00
parent 904b534695
commit 935eb3c0be
30 changed files with 8270 additions and 28 deletions
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230
Assets/Scripts/PathMap.cs Normal file
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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 = 200;
private int cols = 200;
private float spacing = 1f;
private float height = 0;
private PathNode[] uncheckedNodes;
private List<PathNode> openList;
private List<PathNode> closedList;
private List<PathNode> nextList;
private List<PathNode> path;
void Start()
{
path = new List<PathNode>();
map = new PathNode[1000, 1000];
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));
node.index = new Vector2(r, c);
map[r, c] = node;
}
}
for (int r = 0; r < rows; r++)
{
for (int c = 0; c < cols; c++)
{
AddAllNeighbors(new Vector2(r, c));
}
}
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;
}
}
QueryNodes(new Vector3(0.7f, 2, 0.7f), new Vector3(2.5f, 0, 2.5f));
}
private void AddAllNeighbors(Vector2 index)
{
if ((int)index.x - 1 >= 0 && (int)index.y - 1 >= 0)
{
map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x - 1, (int)index.y - 1]);
}
if ((int)index.y - 1 >= 0)
{
map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x, (int)index.y - 1]);
}
if ((int)index.x + 1 < rows && (int)index.y - 1 >= 0)
{
map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x + 1, (int)index.y - 1]);
}
if ((int)index.x - 1 >= 0)
{
map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x - 1, (int)index.y]);
}
if ((int)index.x + 1 < rows && (int)index.y >= 0)
{
map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x + 1, (int)index.y]);
}
if ((int)index.x - 1 >= 0 && (int)index.y + 1 < cols)
{
map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x - 1, (int)index.y + 1]);
}
if ((int)index.y + 1 < cols)
{
map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x, (int)index.y + 1]);
}
if ((int)index.x + 1 < rows && (int)index.y + 1 < cols)
{
map[(int)index.x, (int)index.y].neigbors.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(Vector3 Vstart, Vector3 Vend)
{
bool finished = false;
PathNode start = FindClosestNode(Vstart);
start.Gscore = 0;
PathNode end = map[199, 150];
Debug.Log(end.index);
openList.Add(start);
PathNode current;
Debug.Log(Time.time);
int d = 0;
while (!finished)
{
d++;
if (d > 10000)
{
Debug.Log("Mist");
return;
}
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);
Destroy(ball[(int)current.index.x, (int)current.index.y]);
if (current != end)
{
foreach (PathNode p in current.neigbors)
{
if (!closedList.Contains(p))
{
float tempG = current.Gscore + heuristic(p.Position, current.Position);
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.Position, end.Position);
p.Fscore = p.Gscore + p.Hscore;
p.Previous = current;
}
}
}
}
else
{
PathNode temp = end;
path.Add(temp);
while (temp.Previous != null)
{
path.Add(temp.Previous);
temp = temp.Previous;
}
Debug.Log(path.Count);
Debug.Log("yeet it finished");
Debug.Log(Time.time);
for (int i = path.Count - 1; i >= 0;i-- )
{
//Debug.Log(path[i].index);
}
finished = true;
}
}
}
private float heuristic(Vector3 pos1, Vector3 pos2)
{
return Vector3.Distance(pos1, pos2);
}
// Update is called once per frame
void Update()
{
}
}