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Commit a0205e78 authored by 15박보승's avatar 15박보승
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Implementing Priority Queue with Heap. Agents follow along path. Still need to optimize.

parent fb1a4cdd
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Assets/Scenes/Pathfinding.unity
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m_Constraints: 4
--- !u!1 &2003659733 --- !u!1 &2003659733
GameObject: GameObject:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
...@@ -1939,15 +2050,16 @@ GameObject: ...@@ -1939,15 +2050,16 @@ GameObject:
m_Component: m_Component:
- component: {fileID: 2003659737} - component: {fileID: 2003659737}
- component: {fileID: 2003659736} - component: {fileID: 2003659736}
- component: {fileID: 2003659735}
- component: {fileID: 2003659734} - component: {fileID: 2003659734}
- component: {fileID: 2003659738}
- component: {fileID: 2003659735}
m_Layer: 0 m_Layer: 0
m_Name: Agent (4) m_Name: Agent (4)
m_TagString: Untagged m_TagString: Untagged
m_Icon: {fileID: 0} m_Icon: {fileID: 0}
m_NavMeshLayer: 0 m_NavMeshLayer: 0
m_StaticEditorFlags: 0 m_StaticEditorFlags: 0
m_IsActive: 0 m_IsActive: 1
--- !u!114 &2003659734 --- !u!114 &2003659734
MonoBehaviour: MonoBehaviour:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
...@@ -1963,10 +2075,10 @@ MonoBehaviour: ...@@ -1963,10 +2075,10 @@ MonoBehaviour:
pathFinder: {fileID: 178212234} pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0} destination: {x: 0, y: 0, z: 0}
path: [] path: []
moveSpeed: 0 moveSpeed: 3
isGizmos: 1 isGizmos: 1
--- !u!61 &2003659735 --- !u!58 &2003659735
BoxCollider2D: CircleCollider2D:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0} m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0} m_PrefabInstance: {fileID: 0}
...@@ -1979,18 +2091,8 @@ BoxCollider2D: ...@@ -1979,18 +2091,8 @@ BoxCollider2D:
m_UsedByEffector: 0 m_UsedByEffector: 0
m_UsedByComposite: 0 m_UsedByComposite: 0
m_Offset: {x: 0, y: 0} m_Offset: {x: 0, y: 0}
m_SpriteTilingProperty:
border: {x: 0.049999997, y: 0.049999997, z: 0.049999997, w: 0.049999997}
pivot: {x: 0.5, y: 0.5}
oldSize: {x: 0.16, y: 0.16}
newSize: {x: 0.16, y: 0.16}
adaptiveTilingThreshold: 0.5
drawMode: 0
adaptiveTiling: 0
m_AutoTiling: 0
serializedVersion: 2 serializedVersion: 2
m_Size: {x: 0.16, y: 0.16} m_Radius: 0.05
m_EdgeRadius: 0
--- !u!212 &2003659736 --- !u!212 &2003659736
SpriteRenderer: SpriteRenderer:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
...@@ -2053,5 +2155,134 @@ Transform: ...@@ -2053,5 +2155,134 @@ Transform:
m_LocalScale: {x: 2, y: 2, z: 0} m_LocalScale: {x: 2, y: 2, z: 0}
m_Children: [] m_Children: []
m_Father: {fileID: 0} m_Father: {fileID: 0}
m_RootOrder: 13 m_RootOrder: 14
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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Rigidbody2D:
serializedVersion: 4
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 2003659733}
m_BodyType: 0
m_Simulated: 1
m_UseFullKinematicContacts: 0
m_UseAutoMass: 0
m_Mass: 1
m_LinearDrag: 10
m_AngularDrag: 0.05
m_GravityScale: 0
m_Material: {fileID: 0}
m_Interpolate: 0
m_SleepingMode: 1
m_CollisionDetection: 0
m_Constraints: 4
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GameObject:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
serializedVersion: 6
m_Component:
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m_Name: New Sprite (5)
m_TagString: Untagged
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
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BoxCollider2D:
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m_PrefabAsset: {fileID: 0}
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pivot: {x: 0.5, y: 0.5}
oldSize: {x: 1, y: 1}
newSize: {x: 0.16, y: 0.16}
adaptiveTilingThreshold: 0.5
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adaptiveTiling: 0
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serializedVersion: 2
m_Size: {x: 1, y: 1}
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SpriteRenderer:
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m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
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m_ReflectionProbeUsage: 1
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m_RenderingLayerMask: 1
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Assets/Scripts/Editors/CharacterResourceEditorWindow.cs
View file @ a0205e78
...@@ -6,6 +6,7 @@ using System; ...@@ -6,6 +6,7 @@ using System;
using System.Linq; using System.Linq;
using System.IO; using System.IO;
#if UNITY_EDITOR
public class CharacterResourceEditorWindow : EditorWindow public class CharacterResourceEditorWindow : EditorWindow
{ {
public static Dictionary<int, CharacterResource> characters = new Dictionary<int, CharacterResource>(); public static Dictionary<int, CharacterResource> characters = new Dictionary<int, CharacterResource>();
...@@ -191,4 +192,5 @@ public class CharacterResourceEditorWindow : EditorWindow ...@@ -191,4 +192,5 @@ public class CharacterResourceEditorWindow : EditorWindow
newCharacterName = ""; newCharacterName = "";
newCharacterImageList = new Sprite[Enum.GetNames(typeof(CharacterExpression)).Length]; newCharacterImageList = new Sprite[Enum.GetNames(typeof(CharacterExpression)).Length];
} }
} }
\ No newline at end of file #endif
\ No newline at end of file
Assets/Scripts/Editors/DialogueSceneMakerWindow.cs
View file @ a0205e78
...@@ -6,6 +6,7 @@ using System.IO; ...@@ -6,6 +6,7 @@ using System.IO;
using System; using System;
using System.Linq; using System.Linq;
#if UNITY_EDITOR
public class DialogueSceneMakerWindow : EditorWindow public class DialogueSceneMakerWindow : EditorWindow
{ {
[SerializeField] [SerializeField]
...@@ -321,3 +322,4 @@ public class DialogueSceneMakerWindow : EditorWindow ...@@ -321,3 +322,4 @@ public class DialogueSceneMakerWindow : EditorWindow
} }
} }
#endif
\ No newline at end of file
Assets/Scripts/Editors/NodalPathfinding2DEditor.cs
View file @ a0205e78
...@@ -4,6 +4,7 @@ using UnityEngine; ...@@ -4,6 +4,7 @@ using UnityEngine;
using UnityEditor; using UnityEditor;
using BS; using BS;
#if UNITY_EDITOR
[CustomEditor(typeof(NodalPathfinding2D))] [CustomEditor(typeof(NodalPathfinding2D))]
public class NodalPathfinding2DEditor : Editor public class NodalPathfinding2DEditor : Editor
{ {
...@@ -23,3 +24,4 @@ public class NodalPathfinding2DEditor : Editor ...@@ -23,3 +24,4 @@ public class NodalPathfinding2DEditor : Editor
} }
} }
} }
#endif
\ No newline at end of file
Assets/Scripts/Generals/PriorityQueue.cs
View file @ a0205e78
using System.Collections; using System.Collections;
using System.Collections.Generic; using System.Collections.Generic;
using UnityEngine;
public class PriorityQueue<T> public class PriorityQueue<T>
{ {
...@@ -26,6 +27,11 @@ public class PriorityQueue<T> ...@@ -26,6 +27,11 @@ public class PriorityQueue<T>
{ {
return heap.Contains(item); return heap.Contains(item);
} }
public void ValueUpdated(T item)
{
heap.HeapUpdated(item);
}
} }
class Heap<T> class Heap<T>
...@@ -48,14 +54,17 @@ class Heap<T> ...@@ -48,14 +54,17 @@ class Heap<T>
public void Insert(T item) public void Insert(T item)
{ {
list.Add(item); list.Add(item);
TryWithParent(list.Count - 1);
/*
int index = list.Count - 1; int index = list.Count - 1;
while (comparison.Invoke(list[index], list[index / 2]) > 0) while (comparison.Invoke(list[index], list[Parent(index)]) > 0)
{ {
T tmp = list[index]; T tmp = list[index];
list[index] = list[index / 2]; list[index] = list[Parent(index)];
list[index / 2] = tmp; list[Parent(index)] = tmp;
index /= 2; index = Parent(index);
} }
*/
} }
public T Pop() public T Pop()
...@@ -69,11 +78,13 @@ class Heap<T> ...@@ -69,11 +78,13 @@ class Heap<T>
private void Heapify() private void Heapify()
{ {
TryWithChildren(0);
/*
int index = 0; int index = 0;
while (true) while (true)
{ {
int left = 2 * index + 1; int left = Left(index);
int right = 2 * index + 2; int right = Right(index);
int target = index; int target = index;
if (left < list.Count && comparison.Invoke(list[left], list[index]) > 0) if (left < list.Count && comparison.Invoke(list[left], list[index]) > 0)
...@@ -82,7 +93,10 @@ class Heap<T> ...@@ -82,7 +93,10 @@ class Heap<T>
} }
if (right < list.Count && comparison.Invoke(list[right], list[index]) > 0) if (right < list.Count && comparison.Invoke(list[right], list[index]) > 0)
{ {
target = right; if (comparison.Invoke(list[left], list[right]) < 0)
{
target = right;
}
} }
if (index != target) if (index != target)
{ {
...@@ -96,5 +110,113 @@ class Heap<T> ...@@ -96,5 +110,113 @@ class Heap<T>
break; break;
} }
} }
*/
}
public bool isHeap()
{
for(int i = 0; i < list.Count / 2; i++)
{
int left = 2 * i + 1;
int right = 2 * i + 2;
if (comparison.Invoke(list[i], list[left]) < 0)
{
return false;
}
if (right < list.Count && comparison.Invoke(list[i], list[right]) < 0)
{
return false;
}
}
return true;
}
public void HeapUpdated(T item)
{
TryWithParent(list.IndexOf(item));
TryWithChildren(list.IndexOf(item));
/*
if (!list.Contains(item))
Debug.LogError("Invalid item");
int index = list.IndexOf(item);
int left = 2 * index + 1;
int right = 2 * index + 2;
if (comparison.Invoke(list[index], list[(index - 1) / 2]) > 0)
{
while(comparison.Invoke(list[index], list[(index -1) / 2]) > 0)
{
T tmp = list[index];
list[index] = list[(index - 1) / 2];
list[(index - 1) / 2] = tmp;
index /= 2;
}
}
else if (left < list.Count && comparison.Invoke(list[index], list[left]) < 0)
{
T tmp = list[index];
list[index] = list[left];
list[left] = tmp;
}
else if (right < list.Count && comparison.Invoke(list[index], list[right]) < 0)
{
T tmp = list[index];
list[index] = list[right];
list[right] = tmp;
}
*/
}
private int Left(int index)
{
return index * 2 + 1;
}
private int Right(int index)
{
return index * 2 + 2;
}
private int Parent(int index)
{
return (index - 1) / 2;
}
private void TryWithChildren(int index)
{
if (Left(index) >= list.Count)
{
return;
}
int biggerChild;
if (Right(index) >= list.Count)
{
biggerChild = Left(index);
}
else
{
biggerChild = comparison.Invoke(list[Left(index)], list[Right(index)]) >= 0 ? Left(index) : Right(index);
}
if (comparison.Invoke(list[biggerChild], list[index]) > 0)
{
T tmp = list[index];
list[index] = list[biggerChild];
list[biggerChild] = tmp;
TryWithChildren(biggerChild);
}
}
private void TryWithParent(int index)
{
if(comparison.Invoke(list[index], list[Parent(index)]) > 0)
{
T tmp = list[index];
list[index] = list[Parent(index)];
list[Parent(index)] = tmp;
TryWithParent(Parent(index));
}
} }
} }
\ No newline at end of file
Assets/Scripts/NodalPathfinding/NodalPathfinding2D.cs
View file @ a0205e78
...@@ -2,6 +2,7 @@ ...@@ -2,6 +2,7 @@
using System.Collections.Generic; using System.Collections.Generic;
using UnityEngine; using UnityEngine;
using UnityEditor; using UnityEditor;
using System;
namespace BS namespace BS
{ {
...@@ -10,33 +11,62 @@ namespace BS ...@@ -10,33 +11,62 @@ namespace BS
public Bounds bounds; public Bounds bounds;
[Range(0.1f, 1f)] [Range(0.1f, 1f)]
public float pointInterval = 0.5f; public float pointInterval = 0.5f;
public float agentRadius = 0.5f;
public LayerMask blockMask; public LayerMask blockMask;
private Dictionary<Vector2Int, Node> nodes = new Dictionary<Vector2Int, Node>(); private Dictionary<Vector2Int, Node> nodes = new Dictionary<Vector2Int, Node>();
public bool isBaked { get { return nodes.Count > 0; } } public bool isBaked { get { return nodes.Count > 0; } }
public bool enableGizmos = true; public bool isOptimizing = true;
[Range(2,10)]
public int complementLevel = 2;
public bool enableGizmos = true;
#if UNITY_EDITOR
private void OnDrawGizmos() private void OnDrawGizmos()
{ {
if (!enableGizmos) if (!enableGizmos)
return; return;
if (isBaked)
Gizmos.color = Color.red;
Vector3 mousePosition = Event.current.mousePosition;
Ray ray = HandleUtility.GUIPointToWorldRay(mousePosition);
mousePosition = ray.origin;
mousePosition.z = 0;
//Vector2Int index = FindNode(mousePosition, Vector2.up);
Vector2Int index = Vector2Int.zero;
if (isBaked)
{ {
int xCount = Mathf.FloorToInt((bounds.max.x - bounds.min.x) / pointInterval) + 1; int xCount = Mathf.FloorToInt((bounds.max.x - bounds.min.x) / pointInterval) + 1;
int yCount = Mathf.FloorToInt((bounds.max.y - bounds.min.y) / pointInterval) + 1; int yCount = Mathf.FloorToInt((bounds.max.y - bounds.min.y) / pointInterval) + 1;
Gizmos.color = new Color(0, 1, 0, .3f);
foreach (var node in nodes.Values) foreach (var node in nodes.Values)
{ {
//Gizmos.color = new Color(node.gridPosition.x / (float)xCount, node.gridPosition.y / (float)yCount, 0, 1); //Gizmos.color = new Color(node.gridPosition.x / (float)xCount, node.gridPosition.y / (float)yCount, 0, 1);
Gizmos.DrawSphere(node.worldPositon, pointInterval / 5); if (index == node.gridPosition)
foreach (var adj in node.adjacencies) {
{ Gizmos.color = Color.yellow;
Gizmos.DrawLine(node.worldPositon, nodes[adj].worldPositon); Gizmos.DrawSphere(node.worldPositon, pointInterval / 5);
} foreach (var adj in node.adjacencies)
{
Gizmos.DrawLine(node.worldPositon, nodes[adj].worldPositon);
}
}
else
{
Gizmos.color = Color.blue;
Gizmos.DrawSphere(node.worldPositon, pointInterval / 5);
Gizmos.color = new Color(0, 1, 0, .1f);
foreach (var adj in node.adjacencies)
{
Gizmos.DrawLine(node.worldPositon, nodes[adj].worldPositon);
}
}
} }
} }
else else
...@@ -47,7 +77,7 @@ namespace BS ...@@ -47,7 +77,7 @@ namespace BS
{ {
for (float j = bounds.min.y; j <= bounds.max.y; j += pointInterval * 2) for (float j = bounds.min.y; j <= bounds.max.y; j += pointInterval * 2)
{ {
if (Physics2D.OverlapPoint(new Vector2(i, j), blockMask)) if (Physics2D.OverlapCircle(new Vector2(i, j), agentRadius, blockMask))
Gizmos.color = Color.red; Gizmos.color = Color.red;
else else
Gizmos.color = Color.green; Gizmos.color = Color.green;
...@@ -59,23 +89,39 @@ namespace BS ...@@ -59,23 +89,39 @@ namespace BS
{ {
for (float j = bounds.min.y + pointInterval; j <= bounds.max.y; j += pointInterval * 2) for (float j = bounds.min.y + pointInterval; j <= bounds.max.y; j += pointInterval * 2)
{ {
if (Physics2D.OverlapPoint(new Vector2(i, j), blockMask)) if (Physics2D.OverlapCircle(new Vector2(i, j), agentRadius, blockMask))
Gizmos.color = Color.red; Gizmos.color = Color.red;
else else
Gizmos.color = Color.green; Gizmos.color = Color.green;
Gizmos.DrawSphere(new Vector3(i, j, 0), pointInterval / 5); Gizmos.DrawSphere(new Vector3(i, j, 0), pointInterval / 5);
} }
} }
} }
} Gizmos.color = Color.red;
Gizmos.DrawSphere(IndexToWorld(WorldToIndex(mousePosition, Vector2.right)), pointInterval / 5);
public void BakeNodes() //Gizmos.color = Color.white;
//Gizmos.DrawSphere(nodes[FindNode(agent.transform.position, mousePosition - agent.transform.position)].worldPositon, pointInterval);
//Gizmos.DrawSphere(nodes[FindNode(mousePosition, agent.transform.position - mousePosition)].worldPositon, pointInterval);
}
#endif
private void Start()
{
if (!isBaked)
BakeNodes();
}
public void BakeNodes()
{ {
Debug.Log("Baking Start"); Debug.Log("Baking Start");
ClearNodes(); ClearNodes();
int xCount = Mathf.FloorToInt((bounds.max.x - bounds.min.x) / pointInterval) + 1; int xCount = Mathf.FloorToInt((bounds.max.x - bounds.min.x) / pointInterval) + 1;
int yCount = Mathf.FloorToInt((bounds.max.y - bounds.min.y) / pointInterval) + 1; int yCount = Mathf.FloorToInt((bounds.max.y - bounds.min.y) / pointInterval) + 1;
complementLevel = complementLevel - complementLevel % 2;
for (int i = 0; i < xCount; i++) for (int i = 0; i < xCount; i++)
{ {
for (int j = 0; j < yCount; j++) for (int j = 0; j < yCount; j++)
...@@ -83,60 +129,236 @@ namespace BS ...@@ -83,60 +129,236 @@ namespace BS
if ((i + j) % 2 != 0) if ((i + j) % 2 != 0)
continue; continue;
Vector3 worldPosition = IndexToWorld(new Vector2Int(i, j)); Vector3 worldPosition = IndexToWorld(new Vector2Int(i, j));
if (Physics2D.OverlapPoint(worldPosition, blockMask)) if (Physics2D.OverlapCircle(worldPosition, agentRadius, blockMask))
continue; continue;
Node newNode = new Node(new Vector2Int(i, j), worldPosition); Node newNode = new Node(new Vector2Int(i, j), worldPosition);
nodes.Add(newNode.gridPosition, newNode); nodes.Add(newNode.gridPosition, newNode);
} }
} }
if (isOptimizing)
for (int i = 0; i < xCount; i++) {
{ List<Vector2Int> deleteList = new List<Vector2Int>();
for (int j = 0; j < yCount; j++) Dictionary<Vector2Int, Node> allNodes = new Dictionary<Vector2Int, Node>(nodes);
{
List<Vector2Int> adj = new List<Vector2Int>(); for (int i = 0; i < xCount; i++)
Vector2Int pos = new Vector2Int(i, j); {
if (!nodes.ContainsKey(pos)) for (int j = 0; j < yCount; j++)
continue; {
Node node = nodes[pos]; Vector2Int pos = new Vector2Int(i, j);
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(2, 0))) //Right if (!nodes.ContainsKey(pos))
{ continue;
adj.Add(node.gridPosition + new Vector2Int(2, 0)); int count = 0;
} if (nodes.ContainsKey(pos + new Vector2Int(2, 0))) //Right
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-2, 0))) //Left {
{ count++;
adj.Add(node.gridPosition + new Vector2Int(-2, 0)); }
} if (nodes.ContainsKey(pos + new Vector2Int(-2, 0))) //Left
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(0, 2))) // Up {
{ count++;
adj.Add(node.gridPosition + new Vector2Int(0, 2)); }
} if (nodes.ContainsKey(pos + new Vector2Int(0, 2))) // Up
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(0, -2))) // Down {
{ count++;
adj.Add(node.gridPosition + new Vector2Int(0, -2)); }
} if (nodes.ContainsKey(pos + new Vector2Int(0, -2))) // Down
{
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1, 1))) //UpLeft count++;
{ }
adj.Add(node.gridPosition + new Vector2Int(-1, 1));
} if (nodes.ContainsKey(pos + new Vector2Int(-1, 1))) //UpLeft
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(1, 1))) //UpRight {
{ count++;
adj.Add(node.gridPosition + new Vector2Int(1, 1)); }
} if (nodes.ContainsKey(pos + new Vector2Int(1, 1))) //UpRight
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1, -1))) //DownLeft {
{ count++;
adj.Add(node.gridPosition + new Vector2Int(-1, -1)); }
} if (nodes.ContainsKey(pos + new Vector2Int(-1, -1))) //DownLeft
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(1, -1))) //DownRight {
{ count++;
adj.Add(node.gridPosition + new Vector2Int(1, -1)); }
} if (nodes.ContainsKey(pos + new Vector2Int(1, -1))) //DownRight
node.adjacencies = adj; {
nodes[pos] = node; count++;
} }
}
if (count == 8)
{
deleteList.Add(pos);
}
}
}
foreach(var delete in deleteList)
{
nodes.Remove(delete);
}
for (int i = complementLevel; i < xCount; i+= complementLevel)
{
for (int j = complementLevel; j < yCount; j += complementLevel)
{
Vector2Int pos = new Vector2Int(i, j);
if (nodes.ContainsKey(pos) || Physics2D.OverlapCircle(IndexToWorld(pos),agentRadius, blockMask))
continue;
Node node = new Node(pos, IndexToWorld(pos));
nodes.Add(node.gridPosition, node);
}
}
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
List<Vector2Int> adj = new List<Vector2Int>();
Vector2Int pos = new Vector2Int(i, j);
if (!nodes.ContainsKey(pos))
continue;
Node node = nodes[pos];
for (int k = 1; (node.gridPosition + new Vector2Int(2,0) * k).x < xCount; k++)
{
if (!allNodes.ContainsKey(node.gridPosition + new Vector2Int(2, 0) * k))
break;
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(2,0) * k))
{
adj.Add(node.gridPosition + new Vector2Int(2, 0) * k);
break;
}
}
for (int k = 1; (node.gridPosition + new Vector2Int(-2, 0) * k).x >= 0; k++)
{
if (!allNodes.ContainsKey(node.gridPosition + new Vector2Int(-2, 0) * k))
break;
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-2, 0) * k))
{
adj.Add(node.gridPosition + new Vector2Int(-2, 0) * k);
break;
}
}
for (int k = 1; (node.gridPosition + new Vector2Int(0, 2) * k).y < yCount; k++)
{
if (!allNodes.ContainsKey(node.gridPosition + new Vector2Int(0, 2) * k))
break;
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(0, 2) * k))
{
adj.Add(node.gridPosition + new Vector2Int(0, 2) * k);
break;
}
}
for (int k = 1; (node.gridPosition + new Vector2Int(0, -2) * k).y >= 0; k++)
{
if (!allNodes.ContainsKey(node.gridPosition + new Vector2Int(0, -2) * k))
break;
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(0, -2) * k))
{
adj.Add(node.gridPosition + new Vector2Int(0, -2) * k);
break;
}
}
for (int k = 1;
(node.gridPosition + new Vector2Int(-1, 1) * k).x >= 0 &&
(node.gridPosition + new Vector2Int(-1, 1) * k).y < yCount; k++)
{
if (!allNodes.ContainsKey(node.gridPosition + new Vector2Int(-1, 1) * k))
break;
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1, 1) * k))
{
adj.Add(node.gridPosition + new Vector2Int(-1, 1) * k);
break;
}
}
for (int k = 1;
(node.gridPosition + new Vector2Int(1, 1) * k).x < xCount &&
(node.gridPosition + new Vector2Int(1, 1) * k).y < yCount; k++)
{
if (!allNodes.ContainsKey(node.gridPosition + new Vector2Int(1, 1) * k))
break;
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(1, 1) * k))
{
adj.Add(node.gridPosition + new Vector2Int(1, 1) * k);
break;
}
}
for (int k = 1;
(node.gridPosition + new Vector2Int(-1, -1) * k).x >= 0 &&
(node.gridPosition + new Vector2Int(-1, -1) * k).y >= 0; k++)
{
if (!allNodes.ContainsKey(node.gridPosition + new Vector2Int(-1, -1) * k))
break;
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1, -1) * k))
{
adj.Add(node.gridPosition + new Vector2Int(-1, -1) * k);
break;
}
}
for (int k = 1;
(node.gridPosition + new Vector2Int(1, -1) * k).x < xCount &&
(node.gridPosition + new Vector2Int(1, -1) * k).y >= 0; k++)
{
if (!allNodes.ContainsKey(node.gridPosition + new Vector2Int(1, -1) * k))
break;
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(1, -1) * k))
{
adj.Add(node.gridPosition + new Vector2Int(1, -1) * k);
break;
}
}
node.adjacencies = adj;
}
}
}
else
{
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
List<Vector2Int> adj = new List<Vector2Int>();
Vector2Int pos = new Vector2Int(i, j);
if (!nodes.ContainsKey(pos))
continue;
Node node = nodes[pos];
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(2, 0))) //Right
{
adj.Add(node.gridPosition + new Vector2Int(2, 0));
}
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-2, 0))) //Left
{
adj.Add(node.gridPosition + new Vector2Int(-2, 0));
}
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(0, 2))) // Up
{
adj.Add(node.gridPosition + new Vector2Int(0, 2));
}
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(0, -2))) // Down
{
adj.Add(node.gridPosition + new Vector2Int(0, -2));
}
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1, 1))) //UpLeft
{
adj.Add(node.gridPosition + new Vector2Int(-1, 1));
}
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(1, 1))) //UpRight
{
adj.Add(node.gridPosition + new Vector2Int(1, 1));
}
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1, -1))) //DownLeft
{
adj.Add(node.gridPosition + new Vector2Int(-1, -1));
}
if (nodes.ContainsKey(node.gridPosition + new Vector2Int(1, -1))) //DownRight
{
adj.Add(node.gridPosition + new Vector2Int(1, -1));
}
node.adjacencies = adj;
nodes[pos] = node;
}
}
}
Debug.Log("Baking End"); Debug.Log("Baking End");
} }
...@@ -153,8 +375,7 @@ namespace BS ...@@ -153,8 +375,7 @@ namespace BS
return path; return path;
} }
Node cur = nodes[WorldToIndex(from, to - from)]; Node cur = nodes[WorldToIndex(from, to - from)];
Node goal = nodes[WorldToIndex(to, from - to)];
path.Add(cur.worldPositon); path.Add(cur.worldPositon);
Queue<Node> off = new Queue<Node>(); Queue<Node> off = new Queue<Node>();
...@@ -187,13 +408,18 @@ namespace BS ...@@ -187,13 +408,18 @@ namespace BS
public List<Vector3> GetPathAstar(Vector3 from, Vector3 to) public List<Vector3> GetPathAstar(Vector3 from, Vector3 to)
{ {
List<Vector3> path = new List<Vector3>(); List<Vector3> path = new List<Vector3>();
if (WorldToIndex(from, to - from).x < 0 || WorldToIndex(to, from - to).x < 0)
{ Vector2Int startIndex = FindNode(from, to - from);
return path; Vector2Int goalIndex = FindNode(to, from - to);
}
Node start = nodes[WorldToIndex(from, to - from)]; if (startIndex.x <0 || goalIndex.x < 0)
Node goal = nodes[WorldToIndex(to, from - to)]; {
//path.Add(cur.worldPositon); return path;
}
Node start = nodes[startIndex];
Node goal = nodes[goalIndex];
PriorityQueue<Node> queue = new PriorityQueue<Node>((a, b) => a.score < b.score ? 1 : a.score == b.score ? 0 : -1); PriorityQueue<Node> queue = new PriorityQueue<Node>((a, b) => a.score < b.score ? 1 : a.score == b.score ? 0 : -1);
List<Node> closed = new List<Node>(); List<Node> closed = new List<Node>();
...@@ -202,12 +428,17 @@ namespace BS ...@@ -202,12 +428,17 @@ namespace BS
while (queue.Count > 0) while (queue.Count > 0)
{ {
Node cur = queue.Dequeue(); Node cur = queue.Dequeue();
/*
Vector2Int newGoalIndex = FindNode(to, cur.worldPositon - to);
if (newGoalIndex.x > 0)
goal = nodes[FindNode(to, cur.worldPositon - to)];
*/
if(cur.gridPosition == goal.gridPosition) if(cur.gridPosition == goal.gridPosition)
{ {
closed.Add(cur); closed.Add(cur);
break; break;
} }
foreach (var adj in cur.adjacencies) foreach (var adj in cur.adjacencies)
{ {
...@@ -222,6 +453,7 @@ namespace BS ...@@ -222,6 +453,7 @@ namespace BS
adjNode.cost = cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon); adjNode.cost = cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon);
adjNode.CalculateScore(to); adjNode.CalculateScore(to);
adjNode.parent = cur; adjNode.parent = cur;
queue.ValueUpdated(adjNode);
} }
} }
else if (!isClosed) else if (!isClosed)
...@@ -233,6 +465,7 @@ namespace BS ...@@ -233,6 +465,7 @@ namespace BS
} }
} }
closed.Add(cur); closed.Add(cur);
} }
...@@ -250,14 +483,24 @@ namespace BS ...@@ -250,14 +483,24 @@ namespace BS
} }
} }
path.Reverse(); path.Reverse();
if (path.Count > 1 && Physics2D.OverlapCircle(to, agentRadius, blockMask))
{
path.Add(Physics2D.Raycast(path[path.Count - 1], to - path[path.Count - 1], float.MaxValue, blockMask).point);
}
else
{
path.Add(to);
}
/*
foreach(var node in nodes.Values) foreach(var node in nodes.Values)
{ {
node.cost = 0; node.cost = 0;
node.parent = null; node.parent = null;
node.score = 0; node.score = 0;
} }
return path; */
return path;
} }
private Vector3 IndexToWorld(Vector2Int index) private Vector3 IndexToWorld(Vector2Int index)
...@@ -277,43 +520,102 @@ namespace BS ...@@ -277,43 +520,102 @@ namespace BS
int minY = Mathf.FloorToInt((position.y - bounds.min.y) / pointInterval); int minY = Mathf.FloorToInt((position.y - bounds.min.y) / pointInterval);
int maxY = Mathf.CeilToInt((position.y - bounds.min.y) / pointInterval); int maxY = Mathf.CeilToInt((position.y - bounds.min.y) / pointInterval);
Vector2Int center; Vector2Int[] adjs = { new Vector2Int(minX, minY), new Vector2Int(minX, maxY), new Vector2Int(maxX, minY), new Vector2Int(maxX, maxY) };
if ((minX + minY) % 2 != 0) Vector2Int index = Vector2Int.zero;
{
center =
Vector2.Distance(IndexToWorld(minX, minY), position) > Vector2.Distance(IndexToWorld(maxX, maxY), position) ?
new Vector2Int(maxX, maxY) :
new Vector2Int(minX, minY);
}
else
{
center =
Vector2.Distance(IndexToWorld(minX, maxY), position) > Vector2.Distance(IndexToWorld(maxX, minY), position) ?
new Vector2Int(maxX, minY) :
new Vector2Int(minX, maxY);
}
Vector2Int[] adjs = { center + Vector2Int.up, center + Vector2Int.down, center + Vector2Int.left, center + Vector2Int.right };
Vector2Int index = new Vector2Int(-1, -1);
float max = float.MinValue; float max = float.MinValue;
foreach (var adj in adjs) foreach (var adj in adjs)
{ {
if (!nodes.ContainsKey(adj)) float score = Vector2.Dot((IndexToWorld(adj) - position).normalized, direction.normalized) / (IndexToWorld(adj) - position).magnitude;
continue;
float score = Vector2.Dot(nodes[adj].worldPositon - position, direction.normalized);
if (max < score) if (max < score)
{ {
index = adj; index = adj;
max = score; max = score;
} }
} }
if (index.x < 0)
Debug.Log("Blocked!!");
return index; return index;
} }
private Vector2Int FindNode(Vector3 position, Vector2 direction)
{
if (isOptimizing)
{
Vector2Int index = WorldToIndex(position, direction);
if (nodes.ContainsKey(index))
return index;
Vector2Int target = index;
float max = float.MinValue;
for (int i = index.x - index.x % complementLevel; i <= index.x + complementLevel - index.x % complementLevel; i++)
{
for (int j = index.y - index.y % complementLevel; j <= index.y + complementLevel - index.y % complementLevel; j++)
{
Vector2Int key = new Vector2Int(i, j);
if (nodes.ContainsKey(key))
{
float score = Vector2.Dot(IndexToWorld(key) - position, direction.normalized) / (IndexToWorld(key) - position).magnitude;
if (max < score)
{
target = key;
max = score;
}
}
}
}
return target;
}
else
{
Vector2Int index = WorldToIndex(position, direction);
Vector2Int init = index;
if (nodes.ContainsKey(index))
{
return index;
}
/*
for (int i = 1; index == WorldToIndex(position, direction) ; i++)
{
float max = float.MinValue;
for (int j = -i; j <= i; j++)
{
for (int k = -i; k <= i; k++)
{
Vector2Int tmp = new Vector2Int(j, k);
if (nodes.ContainsKey(tmp))
{
float score = Vector2.Dot((IndexToWorld(tmp) - position).normalized, direction.normalized) / (IndexToWorld(tmp) - position).magnitude;
if (max < score)
{
max = score;
index = tmp;
}
}
}
}
}
*/
Vector2Int[] adjs = { index + Vector2Int.up, index + Vector2Int.down, index + Vector2Int.right, index + Vector2Int.left };
float max = float.MinValue;
foreach (var adj in adjs)
{
if (!nodes.ContainsKey(adj))
continue;
float score = Vector2.Dot((IndexToWorld(adj) - position).normalized, direction.normalized) / (IndexToWorld(adj) - position).magnitude;
if (max < score)
{
index = adj;
max = score;
}
}
if (index == init)
{
return new Vector2Int(-1, -1);
}
return index;
}
}
public void ClearNodes() public void ClearNodes()
{ {
nodes.Clear(); nodes.Clear();
...@@ -347,6 +649,7 @@ namespace BS ...@@ -347,6 +649,7 @@ namespace BS
public float cost; public float cost;
public float score; public float score;
public Node parent; public Node parent;
public void CalculateScore(Vector3 destination) public void CalculateScore(Vector3 destination)
{ {
score = cost + GetHeuristic(destination); score = cost + GetHeuristic(destination);
......
Assets/Scripts/NodalPathfinding/NodalPathfinding2DAgent.cs
View file @ a0205e78
...@@ -3,6 +3,8 @@ using System.Collections.Generic; ...@@ -3,6 +3,8 @@ using System.Collections.Generic;
using UnityEngine; using UnityEngine;
namespace BS { namespace BS {
[RequireComponent(typeof(Rigidbody2D))]
[RequireComponent(typeof(CircleCollider2D))]
public class NodalPathfinding2DAgent : MonoBehaviour public class NodalPathfinding2DAgent : MonoBehaviour
{ {
public NodalPathfinding2D pathFinder; public NodalPathfinding2D pathFinder;
...@@ -13,6 +15,8 @@ namespace BS { ...@@ -13,6 +15,8 @@ namespace BS {
float t = 0.5f; float t = 0.5f;
private Rigidbody2D rb;
public bool isGizmos = true; public bool isGizmos = true;
private void OnDrawGizmos() private void OnDrawGizmos()
...@@ -28,11 +32,16 @@ namespace BS { ...@@ -28,11 +32,16 @@ namespace BS {
Gizmos.DrawLine(path[i] + new Vector3(0,0,1), path[i + 1] + new Vector3(0, 0, 1)); Gizmos.DrawLine(path[i] + new Vector3(0,0,1), path[i + 1] + new Vector3(0, 0, 1));
} }
Gizmos.color = Color.red; Gizmos.color = Color.red;
Gizmos.DrawSphere(destination + new Vector3(0, 0, 1), 0.5f); Gizmos.DrawSphere(destination + new Vector3(0, 0, 1), 0.2f);
} }
} }
private void Update() private void Start()
{
rb = GetComponent<Rigidbody2D>();
}
private void Update()
{ {
/* /*
t -= Time.deltaTime; t -= Time.deltaTime;
...@@ -42,29 +51,65 @@ namespace BS { ...@@ -42,29 +51,65 @@ namespace BS {
t = 0.5f; t = 0.5f;
} }
*/ */
/*
if (pathFinder.isBaked)
if (Input.GetKeyDown(KeyCode.Space)) {
MoveTo(new Vector2(Random.Range(pathFinder.bounds.min.x, pathFinder.bounds.max.x), Random.Range(pathFinder.bounds.min.y, pathFinder.bounds.max.y)));
}
*/
if (Input.GetKeyDown(KeyCode.Space))
{ {
transform.position = new Vector2(Random.Range(pathFinder.bounds.min.x, pathFinder.bounds.max.x), Random.Range(pathFinder.bounds.min.y, pathFinder.bounds.max.y)); transform.position = new Vector2(Random.Range(pathFinder.bounds.min.x, pathFinder.bounds.max.x), Random.Range(pathFinder.bounds.min.y, pathFinder.bounds.max.y));
} }
if (Input.GetMouseButtonDown(1)) if (Input.GetMouseButtonDown(1))
{ {
MoveTo(Camera.main.ScreenToWorldPoint(Input.mousePosition)); Vector3 destination = Camera.main.ScreenToWorldPoint(Input.mousePosition);
destination.z = 0;
MoveTo(destination);
} }
//path = pathFinder.GetPathGreedy(transform.position, destination); //path = pathFinder.GetPathGreedy(transform.position, destination);
} }
public void MoveTo(Vector3 destination) public void MoveTo(Vector3 destination)
{ {
this.destination = destination; this.destination = destination;
//path = pathFinder.GetPathGreedy(transform.position, destination); //path = pathFinder.GetPathGreedy(transform.position, destination);
path = pathFinder.GetPathAstar(transform.position, destination); if (path.Count > 1 && Vector2.Distance(path[path.Count - 1], destination) < pathFinder.pointInterval)
} path[path.Count - 1] = destination;
else
{
path = pathFinder.GetPathAstar(transform.position, destination);
}
}
public void Move(Vector2 direction) public void Move(Vector2 direction)
{ {
} }
private void FixedUpdate()
{
if (path.Count > 0)
{
transform.position += (path[0] - transform.position).normalized * moveSpeed * Time.fixedDeltaTime;
//rb.velocity = Vector3.Lerp(rb.velocity, (path[0] - transform.position).normalized * moveSpeed, 0.5f);
//Debug.Log((path[0] - transform.position).normalized.magnitude);
rb.velocity = (path[0] - transform.position).normalized * moveSpeed;
if (path.Count > 1 && Vector2.Distance(transform.position, path[0]) < 0.1f && Vector2.Dot(path[1] - path[0], path[0] - transform.position) < 0)
{
path.RemoveAt(0);
}
else if (path.Count > 1 && Vector2.Distance(transform.position, path[0]) < pathFinder.pointInterval / 2)
{
path.RemoveAt(0);
}
else if (Vector2.Distance(transform.position, destination) < 0.05f)
{
path.RemoveAt(0);
}
}
}
} }
} }
\ No newline at end of file
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ProjectSettings/EditorBuildSettings.asset
View file @ a0205e78
...@@ -5,7 +5,10 @@ EditorBuildSettings: ...@@ -5,7 +5,10 @@ EditorBuildSettings:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
serializedVersion: 2 serializedVersion: 2
m_Scenes: m_Scenes:
- enabled: 0
path:
guid: 00000000000000000000000000000000
- enabled: 1 - enabled: 1
path: Assets/Scenes/SampleScene.unity path: Assets/Scenes/Pathfinding.unity
guid: 2cda990e2423bbf4892e6590ba056729 guid: 716f3ccf18fe3444cabbb5ea0ddc9b6b
m_configObjects: {} m_configObjects: {}
ProjectSettings/GraphicsSettings.asset
View file @ a0205e78
...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
--- !u!30 &1 --- !u!30 &1
GraphicsSettings: GraphicsSettings:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
serializedVersion: 12 serializedVersion: 13
m_Deferred: m_Deferred:
m_Mode: 1 m_Mode: 1
m_Shader: {fileID: 69, guid: 0000000000000000f000000000000000, type: 0} m_Shader: {fileID: 69, guid: 0000000000000000f000000000000000, type: 0}
...@@ -31,6 +31,9 @@ GraphicsSettings: ...@@ -31,6 +31,9 @@ GraphicsSettings:
m_AlwaysIncludedShaders: m_AlwaysIncludedShaders:
- {fileID: 10753, guid: 0000000000000000f000000000000000, type: 0} - {fileID: 10753, guid: 0000000000000000f000000000000000, type: 0}
- {fileID: 10770, guid: 0000000000000000f000000000000000, type: 0} - {fileID: 10770, guid: 0000000000000000f000000000000000, type: 0}
- {fileID: 16000, guid: 0000000000000000f000000000000000, type: 0}
- {fileID: 16001, guid: 0000000000000000f000000000000000, type: 0}
- {fileID: 17000, guid: 0000000000000000f000000000000000, type: 0}
m_PreloadedShaders: [] m_PreloadedShaders: []
m_SpritesDefaultMaterial: {fileID: 10754, guid: 0000000000000000f000000000000000, m_SpritesDefaultMaterial: {fileID: 10754, guid: 0000000000000000f000000000000000,
type: 0} type: 0}
...@@ -55,3 +58,5 @@ GraphicsSettings: ...@@ -55,3 +58,5 @@ GraphicsSettings:
m_AlbedoSwatchInfos: [] m_AlbedoSwatchInfos: []
m_LightsUseLinearIntensity: 0 m_LightsUseLinearIntensity: 0
m_LightsUseColorTemperature: 0 m_LightsUseColorTemperature: 0
m_LogWhenShaderIsCompiled: 0
m_AllowEnlightenSupportForUpgradedProject: 1
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