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NPC Pathfinding COMPLETE

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Completed Pathfinding system from Vector3 Position to Vector3 Position
This commit is contained in:
juliuse98
2021-10-01 23:19:18 +02:00
parent 6deadb9c22
commit a24826da16
3 changed files with 123 additions and 152 deletions
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50
Assets/Scripts/NPC/NPCController.cs
View File

@@ -11,34 +11,52 @@ public class NPCController : MonoBehaviour
private int rows; private int rows;
[SerializeField] Vector3 startPoint; [SerializeField] Vector3 startPoint;
[SerializeField] Vector3 endPoint; [SerializeField] Vector3 endPoint;
bool first = false;
bool second = false;
// Start is called before the first frame update // Start is called before the first frame update
void Start() void Start()
{ {
startPoint = new Vector3(0,0,0); startPoint = new Vector3(0, 0, 0);
endPoint = new Vector3(100,0,100); endPoint = new Vector3(200, 0, 900);
rows = 45; rows = 30;
Map = new PathMap(new Vector3(0, 0, 0), rows, rows, 100); Map = new PathMap(new Vector3(0, 0, 0), rows, rows, 900);
Debug.Log("yeet");
Map.setupMapWithNextLayer(); Map.setupMapWithNextLayer();
List<PathNode> parentPath;
//Looking through the low res search //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 // Update is called once per frame
void Update() void Update()
{ {
if (Input.GetButtonDown("Fire1") && !first)
{
first = true;
Debug.Log(Time.time * 1000);
path = Map.LowerQueryNodes(startPoint, endPoint);
} }
else if(!second && first){
second = true;
Debug.Log(Time.time * 1000);
if (path != null && true)
{
for (int i = 0; i < path.Count - 1; i++)
{
float x = path[i].Position.x;
float y = path[i].Position.y;
//Debug.Log(path[i].index);
//Debug.Log(path[i].Position);
GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Cube);
sphere.transform.position = path[i].Position;
}
}
}
}
} }

209
Assets/Scripts/NPC/PathMap.cs
View File

@@ -71,7 +71,7 @@ public class PathMap
{ {
Generate(); Generate();
AddAllNeighbors(); AddAllNeighbors();
//addNextLayer(); addNextLayer();
//Add the references to the neighbors of all nodes //Add the references to the neighbors of all nodes
@@ -98,12 +98,14 @@ public class PathMap
public List<PathNode> QueryNodes(Vector3 Vstart, Vector3 Vend) public List<PathNode> QueryNodes(Vector3 Vstart, Vector3 Vend)
{ {
openList = new List<PathNode>();
closedList = new List<PathNode>();
path = new List<PathNode>();
bool finished = false; bool finished = false;
PathNode start = FindClosestNode(Vstart); PathNode start = FindClosestNode(Vstart);
start.Gscore = 0; start.Gscore = 0;
PathNode end = FindClosestNode(Vend); PathNode end = FindClosestNode(Vend);
Debug.Log(start);
Debug.Log("Searching a path from " + start.Position + " to " + end.Position); Debug.Log("Searching a path from " + start.Position + " to " + end.Position);
openList.Add(start); openList.Add(start);
@@ -112,7 +114,7 @@ public class PathMap
while (!finished) while (!finished)
{ {
d++; d++;
if (d > 1000) if (d > 2025)
{ {
Debug.Log("Too many trys"); Debug.Log("Too many trys");
return null; return null;
@@ -123,7 +125,15 @@ public class PathMap
if (openList[i].Fscore < openList[winner].Fscore) winner = i; if (openList[i].Fscore < openList[winner].Fscore) winner = i;
} }
if (openList.Count != 0)
{
current = openList[winner]; current = openList[winner];
}
else
{
Debug.Log("Fuck");
return null;
}
openList.RemoveAt(winner); openList.RemoveAt(winner);
closedList.Add(current); closedList.Add(current);
@@ -164,7 +174,6 @@ public class PathMap
} }
else else
{ {
Debug.Log("Path Has Been Found");
PathNode temp = end; PathNode temp = end;
path.Add(temp); path.Add(temp);
while (temp.Previous != null) while (temp.Previous != null)
@@ -174,29 +183,60 @@ public class PathMap
} }
path.Add(start); path.Add(start);
finished = true; finished = true;
Debug.Log("Path Has Been Found with " + path.Count + " nodes.");
return path; return path;
} }
} }
return null; return null;
} }
private bool isInParent(List<PathNode> path, Vector2Int index)
public List<PathNode> LowerQueryNodes(Vector3 Vstart, Vector3 Vend, PathNode[] parentPath) {
for (int i = 0; i < path.Count; i++)
{ {
bool finished = false;
PathNode start = FindClosestNode(Vstart); if (path[i].index == index) { return true; }
}
return false;
}
public List<PathNode> LowerQueryNodes(Vector3 Vstart, Vector3 Vend)
{
List<PathNode> excludeNodes = new List<PathNode>();
List<PathNode> parentPath = QueryNodes(Vstart, Vend);
if (parentPath == null)
{
Debug.Log("The Parent didnt find the end!");
return null;
}
//Reseting all the lists.
openList = new List<PathNode>();
closedList = new List<PathNode>();
path = new List<PathNode>();
//Reseting some variables
bool finished = false;
PathNode current;
//Setup for the start node
PathNode start = parentPath[parentPath.Count - 1].lowerLevel.FindClosestNode(Vstart);
start.Gscore = 0; start.Gscore = 0;
PathNode end = FindClosestNode(Vend); openList.Add(start);
//Setup for the end node
PathNode end = parentPath[0].lowerLevel.FindClosestNode(Vend);
Debug.Log("Searching a path from " + start.Position + " to " + end.Position + " but through the lower level."); Debug.Log("Searching a path from " + start.Position + " to " + end.Position + " but through the lower level.");
openList.Add(start);
PathNode current;
int d = 0; int d = 0;
while (!finished) while (!finished)
{ {
d++; d++;
if (d > 1000) if (d > 40*40*40*40)
{ {
Debug.Log("Too many trys"); Debug.Log("Too many trys");
return null; return null;
@@ -204,10 +244,17 @@ public class PathMap
int winner = 0; int winner = 0;
for (int i = 0; i < openList.Count; i++) for (int i = 0; i < openList.Count; i++)
{ {
if (openList[i].Fscore < openList[winner].Fscore) winner = i; if (openList[i].Fscore < openList[winner].Fscore) winner = i;
} }
if (openList.Count != 0)
{
current = openList[winner]; current = openList[winner];
}
else {
Debug.Log("openlist is empty!");
return null;
}
openList.RemoveAt(winner); openList.RemoveAt(winner);
closedList.Add(current); closedList.Add(current);
@@ -215,8 +262,9 @@ public class PathMap
{ {
foreach (PathNode p in current.neigbors) foreach (PathNode p in current.neigbors)
{ {
if (!closedList.Contains(p) && !p.Blocked) if (!closedList.Contains(p) && !p.Blocked && isInParent(parentPath, p.parentIndex))
{ {
float tempG = current.Gscore + heuristic(p, current); float tempG = current.Gscore + heuristic(p, current);
bool newPath = false; bool newPath = false;
if (openList.Contains(p)) if (openList.Contains(p))
@@ -246,7 +294,7 @@ public class PathMap
} }
else else
{ {
Debug.Log("Path Has Been Found");
PathNode temp = end; PathNode temp = end;
path.Add(temp); path.Add(temp);
while (temp.Previous != null) while (temp.Previous != null)
@@ -255,110 +303,24 @@ public class PathMap
temp = temp.Previous; temp = temp.Previous;
} }
path.Add(start); path.Add(start);
Debug.Log("Path Has Been Found with " + path.Count + " nodes.");
finished = true; finished = true;
return path; return path;
} }
if (openList.Count == 0)
{
Debug.Log(d);
excludeNodes.Add(current);
Debug.Log("Could not find a path!");
return null;
}
} }
return null; 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() public void addNextLayer()
{ {
@@ -371,7 +333,7 @@ public class PathMap
{ {
PathNode node = new PathNode(); PathNode node = new PathNode();
node.Position = new Vector3(this.position.x + i * spacing/rows,this.position.y,this.position.z + j * spacing/cols); node.Position = new Vector3(this.position.x + i * spacing / rows, this.position.y, this.position.z + j * spacing / cols);
full[i, j] = node; full[i, j] = node;
} }
@@ -389,14 +351,8 @@ public class PathMap
{ {
if (!indexOutOfBounds(i + x, j + y, rows * rows, cols * cols)) if (!indexOutOfBounds(i + x, j + y, rows * rows, cols * cols))
{ {
//try
//{
full[i, j].neigbors.Add(full[i + x, j + y]); full[i, j].neigbors.Add(full[i + x, j + y]);
//}
//catch
//{
// Debug.Log("poggers");
//}
} }
} }
} }
@@ -418,11 +374,11 @@ public class PathMap
{ {
for (int j = 0; j < cols; j++) for (int j = 0; j < cols; j++)
{ {
PathNode n = full[r*rows+i,c*cols + j]; PathNode n = full[r * rows + i, c * cols + j];
Debug.Log(n); n.index.Set(i, j);
node.lowerLevel.map[i,j].index = new Vector2Int(i, j); n.parentIndex.Set(r, c);
node.ConditionWeight = 1 + (float)Random.Range(1, 1000) / 1000; n.ConditionWeight = 1 + (float)Random.Range(1, 1000) / 1000;
node.lowerLevel.map[i, j] = node; node.lowerLevel.map[i, j] = n;
} }
} }
@@ -445,7 +401,7 @@ public class PathMap
return dist1 + dist2; return dist1 + dist2;
} }
private PathNode FindClosestNode(Vector3 pos) private PathNode FindClosestNode(Vector3 pos)
{ {
if (pos.x > 0 && pos.x < rows * spacing && pos.z > 0 && pos.z < cols * spacing && false) if (pos.x > 0 && pos.x < rows * spacing && pos.z > 0 && pos.z < cols * spacing && false)
{ {
@@ -462,7 +418,6 @@ private PathNode FindClosestNode(Vector3 pos)
{ {
best.Set(r, c); best.Set(r, c);
} }
} }
} }
return map[best.x, best.y]; return map[best.x, best.y];
@@ -511,10 +466,6 @@ private PathNode FindClosestNode(Vector3 pos)
} }
} }
} }
} }
} }

2
Assets/Scripts/NPC/PathNode.cs
View File

@@ -23,6 +23,8 @@ public class PathNode
{ {
neigbors = new List<PathNode>(); neigbors = new List<PathNode>();
position = Vector3.zero; position = Vector3.zero;
index = new Vector2Int(0,0);
parentIndex = new Vector2Int(0,0);
scoreG = Mathf.Infinity; scoreG = Mathf.Infinity;
scoreF = Mathf.Infinity; scoreF = Mathf.Infinity;
scoreH = Mathf.Infinity; scoreH = Mathf.Infinity;