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https://github.com/DerTyp7/fps-citybuild-unity.git
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PathMap Class
+Made the PathMap into a standalone class
This commit is contained in:
juliuse98
@@ -2,118 +2,228 @@ using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class PathMap : MonoBehaviour
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public class PathMap
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{
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private Vector3 position;
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private PathNode[,] map;
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private GameObject[,] ball;
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private int rows = 40;
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private int cols = 40;
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public PathNode[,] map;
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private int rows = 30;
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private int cols = 30;
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private float spacing = 1f;
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private float height = 0;
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public Terrain t;
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private float w, h;
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private PathNode[] uncheckedNodes;
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private List<PathNode> openList;
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private List<PathNode> closedList;
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private List<PathNode> nextList;
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void Start()
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private List<PathNode> path;
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public PathMap(Vector3 Position, int Rows, int Cols, float Width)
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{
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map = new PathNode[40, 40];
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ball = new GameObject[rows, cols];
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position = Position;
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rows = Rows;
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cols = Cols;
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w = Width;
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//Array of all pathnodes in this chunk.
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map = new PathNode[rows, cols];
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//only for debugging
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openList = new List<PathNode>();
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closedList = new List<PathNode>();
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nextList = new List<PathNode>();
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//Path that will be returned at the end.
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path = new List<PathNode>();
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//Add all nodes into the map.
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for (int r = 0; r < rows; r++)
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{
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for (int c = 0; c < cols; c++)
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{
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PathNode node = new PathNode(new Vector3(r * spacing, height, c * spacing), 1f);
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node.index = new Vector2(r,c);
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PathNode node = new PathNode(new Vector3(position.x + r * spacing, position.y + height, position.z + c * spacing));
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node.index = new Vector2Int(r, c);
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map[r, c] = node;
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}
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}
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for (int r = 0; r < rows; r++)
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{
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for (int c = 0; c < cols; c++)
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{
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GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
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sphere.transform.position = map[r,c].Position;
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ball[r,c] = sphere;
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}
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}
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FindClosestNode(new Vector3(0.7f,2,0.7f));
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//Add the references to the neighbors of all nodes
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AddAllNeighbors();
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}
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private void AddAllNeigbors(Vector2 index) {
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if ((int)index.x - 1 >= 0 && (int) index.y - 1 >= 0 && !openList.Contains(map[(int)index.x - 1, (int)index.y - 1])) {
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openList.Add(map[(int)index.x - 1, (int)index.y - 1]);
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}
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if ((int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x, (int)index.y - 1]))
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{
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openList.Add(map[(int)index.x, (int)index.y - 1]);
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}
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if ((int)index.x + 1 <= rows && (int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x + 1, (int)index.y - 1]))
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{
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openList.Add(map[(int)index.x + 1, (int)index.y - 1]);
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}
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if ((int)index.x - 1 >= 0 && !openList.Contains(map[(int)index.x - 1, (int)index.y]))
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{
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openList.Add(map[(int)index.x - 1, (int)index.y]);
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}
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if ((int)index.x + 1 <= rows && (int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x + 1, (int)index.y]))
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{
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openList.Add(map[(int)index.x + 1, (int)index.y]);
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}
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if ((int)index.x - 1 >= 0 && (int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x - 1, (int)index.y + 1]))
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{
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openList.Add(map[(int)index.x - 1, (int)index.y + 1]);
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}
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if ((int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x, (int)index.y + 1]))
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{
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openList.Add(map[(int)index.x, (int)index.y + 1]);
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}
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if ((int)index.x + 1 <= rows && (int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x + 1, (int)index.y + 1]))
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{
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openList.Add(map[(int)index.x + 1, (int)index.y + 1]);
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}
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}
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private PathNode FindClosestNode(Vector3 pos) {
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private PathNode FindClosestNode(Vector3 pos)
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{
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if (pos.x > 0 && pos.x < rows * spacing && pos.z > 0 && pos.z < cols * spacing)
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{
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Destroy(ball[Mathf.RoundToInt(pos.x / spacing), Mathf.RoundToInt(pos.z / spacing)]);
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return map[Mathf.RoundToInt(pos.x / 2), Mathf.RoundToInt(pos.z / 2)];
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return map[Mathf.RoundToInt(pos.x / spacing), Mathf.RoundToInt(pos.z / spacing)];
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}
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else {
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return null;
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}
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}
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public void QueryNodes() {
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PathNode currentNode;
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Vector2Int best = new Vector2Int(0,0);
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for (int r = 0; r < rows; r++)
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{
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for (int c = 0; c < cols; c++)
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{
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currentNode = map[r,c];
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if (Vector3.Distance(map[best.x, best.y].Position, pos) > Vector3.Distance(map[r, c].Position, pos)) {
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best.Set(r,c);
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}
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}
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}
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return map[best.x,best.y];
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}
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public List<PathNode> QueryNodes(Vector3 Vstart, Vector3 Vend)
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{
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bool finished = false;
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PathNode start = FindClosestNode(Vstart);
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start.Gscore = 0;
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PathNode end = FindClosestNode(Vend);
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Debug.Log("Searching a path from " + start.index + " to " + end.index);
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openList.Add(start);
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PathNode current;
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int d = 0;
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while (!finished)
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{
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d++;
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if (d > 1000)
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{
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Debug.Log("Mist! Has not found a path");
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return null;
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}
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int winner = 0;
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for (int i = 0; i < openList.Count; i++)
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{
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if (openList[i].Fscore < openList[winner].Fscore) winner = i;
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}
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current = openList[winner];
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openList.RemoveAt(winner);
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closedList.Add(current);
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if (current != end)
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{
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foreach (PathNode p in current.neigbors)
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{
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if (!closedList.Contains(p))
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{
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float tempG = current.Gscore + heuristic(p.Position, current.Position);
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bool newPath = false;
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if (openList.Contains(p))
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{
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if (tempG < p.Gscore)
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{
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p.Gscore = tempG;
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newPath = true;
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}
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}
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else
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{
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p.Gscore = tempG;
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newPath = true;
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openList.Add(p);
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}
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if (newPath)
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{
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p.Hscore = heuristic(p.Position, end.Position);
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p.Fscore = p.Gscore + p.Hscore;
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p.Previous = current;
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}
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}
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}
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}
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else
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{
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Debug.Log("Path Has Been Found");
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PathNode temp = end;
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path.Add(temp);
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while (temp.Previous != null)
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{
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path.Add(temp.Previous);
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temp = temp.Previous;
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}
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path.Add(start);
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finished = true;
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return path;
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}
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}
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return null;
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}
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private float heuristic(Vector3 pos1, Vector3 pos2)
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{
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//Calculates the HScore for a node.
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return Vector3.Distance(pos1, pos2);
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}
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private void AddAllNeighbors()
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{
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for (int r = 0; r < rows; r++)
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{
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for (int c = 0; c < cols; c++)
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{
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AddNeighbors(new Vector2(r, c));
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}
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}
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}
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// Update is called once per frame
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void Update()
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private void AddNeighbors(Vector2 index)
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{
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//Adds references to all neigbors of a node.
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if ((int)index.x - 1 >= 0 && (int)index.y - 1 >= 0)
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{
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map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x - 1, (int)index.y - 1]);
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}
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if ((int)index.y - 1 >= 0)
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{
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map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x, (int)index.y - 1]);
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}
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if ((int)index.x + 1 < rows && (int)index.y - 1 >= 0)
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{
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map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x + 1, (int)index.y - 1]);
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}
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if ((int)index.x - 1 >= 0)
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{
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map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x - 1, (int)index.y]);
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}
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if ((int)index.x + 1 < rows && (int)index.y >= 0)
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{
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map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x + 1, (int)index.y]);
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}
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if ((int)index.x - 1 >= 0 && (int)index.y + 1 < cols)
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{
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map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x - 1, (int)index.y + 1]);
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}
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if ((int)index.y + 1 < cols)
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{
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map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x, (int)index.y + 1]);
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}
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if ((int)index.x + 1 < rows && (int)index.y + 1 < cols)
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{
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map[(int)index.x, (int)index.y].neigbors.Add(map[(int)index.x + 1, (int)index.y + 1]);
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}
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}
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}
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}
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