10 changed files with 745 additions and 15 deletions
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using System; |
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using System.Collections; |
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using System.Collections.Generic; |
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using System.Numerics; |
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using UnityEngine; |
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using Vector2 = UnityEngine.Vector2; |
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using Vector3 = UnityEngine.Vector3; |
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public class PathFinding : MonoBehaviour |
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{ |
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private float unitSize = .5f; //unit size |
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public int a = 0, b = 0; //Bot left corner of grid |
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public int width = 10, height = 10; //Grid size |
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public bool[,] grid; //Valid path nodes |
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public GameObject obst; //Obstacle prefab |
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private LinkedList<Vector2Int> p; |
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// Start is called before the first frame update |
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void Start() |
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{ |
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Debug.Log("size: " + width + "," + height); |
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InitPathNodes(); |
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FindPath(new Vector2(-2, 0), new Vector2(2f, 0)); |
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} |
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// Update is called once per frame |
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void Update() |
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{ |
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} |
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void InitPathNodes() |
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{ |
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int xCount = (int) Mathf.Floor(width / unitSize); |
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int yCount = (int) Mathf.Floor(height / unitSize); |
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grid = new bool[xCount, yCount]; |
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for (int x = 0; x < xCount; x++) |
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{ |
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for (int y = 0; y < yCount; y++) |
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{ |
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bool walkable = isUnobstructed(a + x * unitSize, b + y * unitSize); |
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grid[x, y] = walkable; |
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} |
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} |
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Debug.Log("fuck: " + (1 << obst.layer)); |
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Debug.Log("test: " + Physics2D.OverlapPoint(new Vector2(0, 0))); |
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} |
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private bool isUnobstructed(float x, float y) |
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{ |
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Vector2 p = new Vector2(x, y); |
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int mask = LayerMask.GetMask("Obstacle"); |
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Collider2D overlapPoint = Physics2D.OverlapPoint(p, mask); |
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bool res = overlapPoint == null; |
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return res; |
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} |
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float Heuristic(Vector2Int node, Vector2Int goal) |
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{ |
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//Return the distance between two points |
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int dx = node.x - goal.x; |
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int dy = node.y - goal.y; |
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return Mathf.Sqrt(dx * dx + dy * dy); |
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} |
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List<Vector2Int> getNeighbours(Vector2Int pos) |
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{ |
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List<Vector2Int> neighbours = new List<Vector2Int>(); |
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for (int x = 0; x < 3; x++) |
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{ |
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for (int y = 0; y < 3; y++) |
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{ |
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if (x == 1 && y == 1) |
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continue; |
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Vector2Int n = new Vector2Int(pos.x + x - 1, pos.y + y - 1); |
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if (n.x >= 0 && n.x < grid.GetLength(0) && n.y >= 0 && n.y < grid.GetLength(1)) |
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neighbours.Add(n); |
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} |
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} |
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return neighbours; |
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} |
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//Find path with the A* algorithm |
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public LinkedList<Vector2> FindPath(Vector2 start_f, Vector2 goal_f) |
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{ |
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//Check if in bounds |
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if (start_f.x - a < 0 || start_f.x - a > width || start_f.y - b < 0 || start_f.y - b > height) |
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{ |
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Debug.LogError("Start out of bounds"); |
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return null; |
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} |
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if (goal_f.x - a < 0 || goal_f.x - a > width || goal_f.y - b < 0 || goal_f.y - b > height) |
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{ |
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Debug.LogError("Goal out of bounds"); |
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return null; |
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} |
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bool[,] inset = new bool[grid.GetLength(0), grid.GetLength(1)]; |
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//Calculate the grid positions of the two points |
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Vector2Int start = |
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new Vector2Int(Mathf.FloorToInt((start_f.x - a) / unitSize), Mathf.FloorToInt((start_f.y - b) / unitSize)); |
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Vector2Int goal = |
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new Vector2Int(Mathf.FloorToInt((goal_f.x - a) / unitSize), Mathf.FloorToInt((goal_f.y - b) / unitSize)); |
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Debug.Log("start: " + start.x + "," + start.y); |
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Debug.Log("goal: " + goal.x + "," + goal.y); |
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PriorityQueue<(Vector2Int, float)> openset = |
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new PriorityQueue<(Vector2Int, float)>((a, b) => a.Item2.CompareTo(b.Item2)); |
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Dictionary<Vector2Int, Vector2Int> cameFrom = new Dictionary<Vector2Int, Vector2Int>(); |
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openset.Insert((start, 0)); |
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float[,] gScore = new float[grid.GetLength(0), grid.GetLength(1)]; |
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float[,] fScore = new float[grid.GetLength(0), grid.GetLength(1)]; |
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for (int x = 0; x < grid.GetLength(0); x++) |
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{ |
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for (int y = 0; y < grid.GetLength(1); y++) |
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{ |
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gScore[x, y] = fScore[x, y] = Mathf.Infinity; |
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} |
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} |
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gScore[start.x, start.y] = 0; |
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fScore[start.x, start.y] = Heuristic(start, goal); |
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while (!openset.IsEmpty()) |
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{ |
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(Vector2Int, float) current = openset.Extract(); |
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if (current.Item1 == goal) |
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{ |
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Debug.Log("Found path"); |
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Debug.Log("Path length: " + gScore[current.Item1.x, current.Item1.y]); |
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Debug.Log("Path: " + cameFrom[current.Item1]); |
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LinkedList<Vector2Int> path = Backtrack(cameFrom, current.Item1); |
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p = path; |
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return ConvertPath(path); |
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} |
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inset[current.Item1.x, current.Item1.y] = true; |
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List<Vector2Int> neighbours = getNeighbours(current.Item1); |
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foreach (Vector2Int neighbour in neighbours) |
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{ |
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if (!grid[neighbour.x, neighbour.y]) |
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continue; |
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float tentativeGScore = gScore[current.Item1.x, current.Item1.y] + 1; |
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if (tentativeGScore >= gScore[neighbour.x, neighbour.y]) |
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continue; |
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cameFrom[neighbour] = current.Item1; |
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gScore[neighbour.x, neighbour.y] = tentativeGScore; |
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fScore[neighbour.x, neighbour.y] = gScore[neighbour.x, neighbour.y] + Heuristic(neighbour, goal); |
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if (!inset[neighbour.x, neighbour.y]) |
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{ |
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openset.Insert((neighbour, fScore[neighbour.x, neighbour.y])); |
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inset[neighbour.x, neighbour.y] = true; |
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} |
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} |
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} |
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return null; |
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} |
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private LinkedList<Vector2Int> Backtrack(Dictionary<Vector2Int, Vector2Int> cameFrom, Vector2Int current) |
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{ |
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LinkedList<Vector2Int> path = new LinkedList<Vector2Int>(); |
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int count = 0; |
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Debug.Log("Current: " + current); |
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path.AddFirst(current); |
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while (cameFrom.ContainsKey(current)) |
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{ |
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count++; |
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current = cameFrom[current]; |
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path.AddFirst(current); |
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Debug.Log("Came from: " + current); |
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} |
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Debug.Log("Count: " + count); |
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return path; |
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} |
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private LinkedList<Vector2> ConvertPath(LinkedList<Vector2Int> path) |
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{ |
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LinkedList<Vector2> converted = new LinkedList<Vector2>(); |
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foreach (Vector2Int v in path) |
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{ |
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converted.AddFirst(new Vector2(v.x * unitSize + a, v.y * unitSize + b)); |
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} |
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return converted; |
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} |
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private void OnDrawGizmos() |
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{ |
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if (grid == null) return; |
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Gizmos.color = Color.yellow; |
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int xCount = (int) Mathf.Floor(width / unitSize); |
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int yCount = (int) Mathf.Floor(height / unitSize); |
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for (int x = 0; x < xCount; x++) |
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{ |
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for (int y = 0; y < yCount; y++) |
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{ |
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Gizmos.color = Color.yellow; |
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if (!grid[x, y]) |
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Gizmos.color = Color.red; |
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Vector3 pos = new Vector3(a + x * unitSize, b + y * unitSize, 0); |
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Gizmos.DrawSphere(pos, 0.05f); |
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} |
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} |
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if (p == null) return; |
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Gizmos.color = Color.magenta; |
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var prev = p.First; |
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for (int i = 0; i < p.Count - 1; i++) |
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{ |
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Vector3 pos = new Vector3(prev.Value.x * unitSize + a, prev.Value.y * unitSize + b, 0); |
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Vector3 target = new Vector3(prev.Next.Value.x * unitSize + a, prev.Next.Value.y * unitSize + b, 0); |
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Gizmos.DrawLine(pos, target); |
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prev = prev.Next; |
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} |
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} |
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} |
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@ -0,0 +1,11 @@ |
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fileFormatVersion: 2 |
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guid: a0ee750a6dc3f9e97b39747ae230044c |
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MonoImporter: |
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externalObjects: {} |
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serializedVersion: 2 |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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@ -0,0 +1,85 @@ |
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using System; |
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using System.Collections.Generic; |
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public class PriorityQueue<T> |
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{ |
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private Func<T, T, int> comparer; |
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public PriorityQueue(Func<T, T, int> comparer = null) |
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{ |
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if (comparer == null) |
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{ |
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comparer = (x, y) => Comparer<T>.Default.Compare(x, y); |
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} |
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this.comparer = comparer; |
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} |
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private readonly List<T> queue = new List<T>(); |
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private void MinHeapify(int i) |
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{ |
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int left = 2 * i + 1; |
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int right = 2 * i + 2; |
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int smallest = i; |
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if (left < queue.Count && comparer(queue[left], queue[smallest]) < 0) |
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{ |
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smallest = left; |
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} |
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if (right < queue.Count && comparer(queue[right], queue[smallest]) < 0) |
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{ |
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smallest = right; |
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} |
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if (smallest != i) |
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{ |
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(queue[i], queue[smallest]) = (queue[smallest], queue[i]); |
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MinHeapify(smallest); |
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} |
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} |
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public void Insert(T item) |
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{ |
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queue.Add(item); |
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int ci = queue.Count - 1; // child index; start at end |
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while (ci > 0) |
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{ |
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int pi = (ci - 1) / 2; // parent index |
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if (comparer(queue[ci], queue[pi]) >= 0) break; // child item is larger than (or equal) parent so we're done |
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(queue[ci], queue[pi]) = (queue[pi], queue[ci]); |
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ci = pi; |
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} |
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} |
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public T Extract() |
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{ |
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T item = queue[0]; |
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queue[0] = queue[queue.Count - 1]; |
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queue.RemoveAt(queue.Count - 1); |
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MinHeapify(0); |
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return item; |
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} |
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public int Count => queue.Count; |
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public T Peek() |
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{ |
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return queue[0]; |
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} |
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public bool Contains(T item) |
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{ |
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return queue.Contains(item); |
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} |
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public void Clear() |
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{ |
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queue.Clear(); |
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} |
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public bool IsEmpty() |
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{ |
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return queue.Count == 0; |
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} |
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} |
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213: 3770364138508046682 |
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second: Obstacles_8 |
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Loading…
Reference in new issue