111 lines
3.6 KiB
C#
111 lines
3.6 KiB
C#
using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class Pathfinding : MonoBehaviour
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{
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public static List<TileInfo> FindPath(TileInfo startTile, TileInfo endTile, List<TileInfo> allTiles, float tileOffset)
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{
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foreach (var tile in allTiles)
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{
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tile.gCost = 0f;
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tile.hCost = 0f;
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tile.fCost = 0f;
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tile.parent = null;
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}
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var openNodes = new List<TileInfo>();
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var closedNodes = new List<TileInfo>();
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startTile.gCost = 0f;
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startTile.hCost = Vector3.Distance(startTile.transform.position, endTile.transform.position);
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startTile.fCost = startTile.gCost + startTile.hCost;
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startTile.parent = null;
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openNodes.Add(startTile);
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while (openNodes.Count > 0)
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{
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var currentNode = openNodes[0]; //looking for lowest value node
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foreach (var node in openNodes)
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{
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if (node.fCost < currentNode.fCost)
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{
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currentNode = node;
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}
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}
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if (currentNode == endTile)
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{
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return GetPathForNode(currentNode);
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}
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openNodes.Remove(currentNode);
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closedNodes.Add(currentNode);
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//Debug.Log(currentNode.name);
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foreach (TileInfo newNode in GetAdjacentNodes(currentNode))
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{
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if (newNode)
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{
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if (closedNodes.Contains(newNode))
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{
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continue;
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}
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if (!openNodes.Contains(newNode))
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{
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SetNodeParams(newNode, currentNode, endTile, tileOffset);
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openNodes.Add(newNode);
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}
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else
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{
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if (currentNode.gCost + tileOffset < newNode.gCost)
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{
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newNode.gCost = currentNode.gCost + tileOffset;
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newNode.parent = currentNode;
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newNode.fCost = newNode.gCost + newNode.hCost;
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}
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}
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}
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}
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}
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Debug.Log("path not found");
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return null;
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}
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private static List<TileInfo> GetAdjacentNodes(TileInfo currentNode)
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{
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var allAjacentTiles = TileManagment.GetAllAdjacentTiles(currentNode);
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List<TileInfo> adjacentNodes = new List<TileInfo>();
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foreach (TileInfo tile in allAjacentTiles)
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{
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if (tile.canMove)
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{
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adjacentNodes.Add(tile);
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}
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}
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return adjacentNodes;
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}
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private static List<TileInfo> GetPathForNode(TileInfo pathNode)
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{
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var result = new List<TileInfo>();
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var currentNode = pathNode;
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while (currentNode != null)
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{
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result.Add(currentNode);
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currentNode = currentNode.parent;
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}
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result.Reverse();
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//Debug.Log("path found");
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return result;
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}
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private static void SetNodeParams(TileInfo currentNode, TileInfo parrentNode, TileInfo endNode, float nodeOffset)
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{
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currentNode.parent = parrentNode;
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currentNode.gCost = currentNode.parent.gCost + nodeOffset;
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currentNode.hCost = Vector3.Distance(currentNode.transform.position, endNode.transform.position);
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currentNode.fCost = currentNode.gCost + currentNode.hCost;
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}
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}
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