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Commit fb1a4cdd authored by 15박보승's avatar 15박보승
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Implementing A* with heap

parent b653e8df
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Showing with 132 additions and 87 deletions
Assets/Scenes/Pathfinding.unity
View file @ fb1a4cdd
......@@ -406,7 +406,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &620200134
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -422,6 +422,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &620200135
BoxCollider2D:
......@@ -531,7 +532,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &852157121
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -547,6 +548,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &852157122
BoxCollider2D:
......@@ -872,7 +874,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &1119483105
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -888,6 +890,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &1119483106
BoxCollider2D:
......@@ -997,7 +1000,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &1304602415
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -1013,6 +1016,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &1304602416
BoxCollider2D:
......@@ -1230,7 +1234,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &1353820626
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -1246,6 +1250,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &1353820627
BoxCollider2D:
......@@ -1355,7 +1360,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &1546514103
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -1371,6 +1376,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &1546514104
BoxCollider2D:
......@@ -1496,6 +1502,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &1592952602
BoxCollider2D:
......@@ -1688,7 +1695,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &1651584784
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -1704,6 +1711,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &1651584785
BoxCollider2D:
......@@ -1813,7 +1821,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &1669406768
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -1829,6 +1837,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &1669406769
BoxCollider2D:
......@@ -1938,7 +1947,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!114 &2003659734
MonoBehaviour:
m_ObjectHideFlags: 0
......@@ -1954,6 +1963,7 @@ MonoBehaviour:
pathFinder: {fileID: 178212234}
destination: {x: 0, y: 0, z: 0}
path: []
moveSpeed: 0
isGizmos: 1
--- !u!61 &2003659735
BoxCollider2D:
......
Assets/Scripts/Generals/PriorityQueue.cs
View file @ fb1a4cdd
using System.Collections;
using System.Collections.Generic;
public enum SortMode
{
ASCENDING,
DECENDING
}
public class PriorityQueue<T>
{
private List<T> heap = new List<T>();
private IComparer<T> comparer;
private SortMode sortMode;
private Heap<T> heap;
public int Count { get { return heap.Count; } }
public PriorityQueue(IComparer<T> comparer, SortMode sortMode = SortMode.ASCENDING)
public PriorityQueue(System.Comparison<T> comparison)
{
this.comparer = comparer;
this.sortMode = sortMode;
heap = new Heap<T>(comparison);
}
public void Enqueue(T item)
{
InsertHeap(item);
heap.Insert(item);
}
public T Dequeue()
{
T first = heap[0];
heap[0] = heap[heap.Count - 1];
heap.RemoveAt(heap.Count - 1);
Heapify();
return first;
return heap.Pop();
}
private void InsertHeap(T item)
{
heap.Add(item);
int index = heap.Count - 1;
while (sortMode == SortMode.ASCENDING ? comparer.Compare(heap[index], heap[index / 2]) <= 0 :comparer.Compare(heap[index], heap[index / 2]) > 0)
{
T tmp = heap[index];
heap[index] = heap[index / 2];
heap[index / 2] = tmp;
index /= 2;
}
}
public bool Contains(T item)
{
return heap.Contains(item);
}
}
private void Heapify()
{
int index = 0;
while (true)
{
int left = 2 * index + 1;
int right = 2 * index + 2;
class Heap<T>
{
private List<T> list = new List<T>();
private System.Comparison<T> comparison;
int target = index;
if(left < heap.Count && (sortMode == SortMode.ASCENDING?comparer.Compare(heap[index],heap[left]) <= 0 :comparer.Compare(heap[index], heap[left]) > 0))
{
target = left;
}
if (right < heap.Count && (sortMode == SortMode.ASCENDING ? comparer.Compare(heap[index], heap[right]) <= 0 : comparer.Compare(heap[index], heap[right]) > 0))
{
target = right;
}
if (index != target)
{
T tmp = heap[index];
heap[index] = heap[target];
heap[target] = tmp;
index = target;
}
else
{
break;
}
}
}
public int Count { get { return list.Count; } }
public Heap(System.Comparison<T> comparison)
{
this.comparison = comparison;
}
public bool Contains(T item)
{
return list.Contains(item);
}
public void Insert(T item)
{
list.Add(item);
int index = list.Count - 1;
while (comparison.Invoke(list[index], list[index / 2]) > 0)
{
T tmp = list[index];
list[index] = list[index / 2];
list[index / 2] = tmp;
index /= 2;
}
}
public T Pop()
{
T tmp = list[0];
list[0] = list[list.Count - 1];
list.RemoveAt(list.Count - 1);
Heapify();
return tmp;
}
private void Heapify()
{
int index = 0;
while (true)
{
int left = 2 * index + 1;
int right = 2 * index + 2;
int target = index;
if (left < list.Count && comparison.Invoke(list[left], list[index]) > 0)
{
target = left;
}
if (right < list.Count && comparison.Invoke(list[right], list[index]) > 0)
{
target = right;
}
if (index != target)
{
T tmp = list[index];
list[index] = list[target];
list[target] = tmp;
index = target;
}
else
{
break;
}
}
}
}
\ No newline at end of file
Assets/Scripts/NodalPathfinding/NodalPathfinding2D.cs
View file @ fb1a4cdd
......@@ -193,16 +193,15 @@ namespace BS
}
Node start = nodes[WorldToIndex(from, to - from)];
Node goal = nodes[WorldToIndex(to, from - to)];
//path.Add(cur.worldPositon);
//path.Add(cur.worldPositon);
List<Node> queue = new List<Node>();
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>();
queue.Add(new Node(start, null));
queue.Enqueue(start);
while (queue.Count > 0)
{
Node cur = queue[0];
queue.RemoveAt(0);
Node cur = queue.Dequeue();
if(cur.gridPosition == goal.gridPosition)
{
......@@ -213,27 +212,27 @@ namespace BS
foreach (var adj in cur.adjacencies)
{
Node adjNode = nodes[adj];
Node alreadyOpened = queue.Find(n => n.gridPosition == adj);
Node alreadyClosed = closed.Find(n => n.gridPosition == adj);
if (alreadyOpened != null)
bool isOpened = queue.Contains(nodes[adj]);
bool isClosed = closed.Contains(nodes[adj]);
if (isOpened)
{
if (alreadyOpened.cost > cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon))
if (adjNode.cost > cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon))
{
alreadyOpened.cost = cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon);
alreadyOpened.CalculateScore(to);
alreadyOpened.parent = cur;
adjNode.cost = cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon);
adjNode.CalculateScore(to);
adjNode.parent = cur;
}
}
else if (alreadyClosed == null)
else if (!isClosed)
{
Node node = new Node(adjNode, cur, cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon));
node.CalculateScore(to);
queue.Add(node);
adjNode.parent = cur;
adjNode.cost = cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon);
adjNode.CalculateScore(to);
queue.Enqueue(adjNode);
}
}
queue.Sort((a, b) => a.score >= b.score ? 1 : -1);
closed.Add(cur);
}
......@@ -251,6 +250,13 @@ namespace BS
}
}
path.Reverse();
foreach(var node in nodes.Values)
{
node.cost = 0;
node.parent = null;
node.score = 0;
}
return path;
}
......
Assets/Scripts/NodalPathfinding/NodalPathfinding2DAgent.cs
View file @ fb1a4cdd
......@@ -9,6 +9,7 @@ namespace BS {
public Vector3 destination;
public List<Vector3> path = new List<Vector3>();
public float moveSpeed;
float t = 0.5f;
......@@ -33,13 +34,14 @@ namespace BS {
private void Update()
{
/*
t -= Time.deltaTime;
if (t < 0)
{
MoveTo(new Vector2(Random.Range(pathFinder.bounds.min.x, pathFinder.bounds.max.x), Random.Range(pathFinder.bounds.min.y, pathFinder.bounds.max.y)));
t = 0.5f;
}
*/
if (Input.GetKeyDown(KeyCode.Space))
......@@ -59,5 +61,10 @@ namespace BS {
//path = pathFinder.GetPathGreedy(transform.position, destination);
path = pathFinder.GetPathAstar(transform.position, destination);
}
}
public void Move(Vector2 direction)
{
}
}
}
\ No newline at end of file
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