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basic pathfinding scripts and setup

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Xevion
2020-11-07 10:10:24 -06:00
parent 99bfed938f
commit b4e281f158
17 changed files with 580 additions and 0 deletions
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Paths/Assets/Scripts.meta Normal file
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Paths/Assets/Scripts/Algorithms/AStar.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Numerics;
public class AStar : Pathfinding {
private Grid grid;
private Stack<Node> path;
private List<Node> openList;
private List<Node> closedList;
public AStar(Grid grid) {
this.grid = grid;
}
public Tuple<List<Grid>, Stack<Node>> FindPath(Vector2 Start, Vector2 End) {
Node start = new Node(new Vector2((int) (Start.X / Node.NODE_SIZE), (int) (Start.Y / Node.NODE_SIZE)), true);
Node end = new Node(new Vector2((int) (End.X / Node.NODE_SIZE), (int) (End.Y / Node.NODE_SIZE)), true);
path = new Stack<Node>();
openList = new List<Node>();
closedList = new List<Node>();
Node current = start;
// add start node to Open List
openList.Add(start);
while (openList.Count != 0 && !closedList.Exists(x => x.Position == end.Position)) {
current = openList[0];
openList.Remove(current);
closedList.Add(current);
List<Node> adjacencies = this.grid.GetAdjacentNodes(current);
foreach (Node n in adjacencies) {
if (!closedList.Contains(n) && n.Walkable) {
if (!openList.Contains(n)) {
n.Parent = current;
n.DistanceToTarget = Math.Abs(n.Position.X - end.Position.X) +
Math.Abs(n.Position.Y - end.Position.Y);
n.Cost = n.Weight + n.Parent.Cost;
openList.Add(n);
openList = openList.OrderBy(node => node.F).ToList<Node>();
}
}
}
}
// construct path, if end was not closed return null
if (!closedList.Exists(x => x.Position == end.Position)) {
return null;
}
// if all good, return path
Node temp = closedList[closedList.IndexOf(current)];
if (temp == null) return null;
do {
path.Push(temp);
temp = temp.Parent;
} while (temp != start && temp != null);
return path;
}
private StateGrid compileState() {}
}

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Paths/Assets/Scripts/Algorithms/Grid.cs Normal file
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using System.Collections.Generic;
using NUnit.Framework.Constraints;
public class Grid {
private List<List<Node>> grid;
public Grid(int width, int height) {
this.grid = new List<List<Node>>();
}
public int GridRows => this.grid[0].Count;
public int GridCols => this.grid.Count;
public List<Node> GetAdjacentNodes(Node node) {
List<Node> temp = new List<Node>();
int row = (int) node.Position.Y;
int col = (int) node.Position.X;
if (row + 1 < GridRows) temp.Add(this.grid[col][row + 1]);
if (row - 1 >= 0) temp.Add(this.grid[col][row - 1]);
if (col - 1 >= 0) temp.Add(this.grid[col - 1][row]);
if (col + 1 < GridCols) temp.Add(this.grid[col + 1][row]);
return temp;
}
}

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Paths/Assets/Scripts/Algorithms/Node.cs Normal file
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using System.Numerics;
public class Node {
// Change this depending on what the desired size is for each element in the grid
public static int NODE_SIZE = 32;
public Node Parent;
public Vector2 Position;
public Vector2 Center => new Vector2(Position.X + NODE_SIZE / 2, Position.Y + NODE_SIZE / 2);
public float DistanceToTarget;
public float Cost;
public float Weight;
public float F {
get {
if (DistanceToTarget != -1 && Cost != -1)
return DistanceToTarget + Cost;
else
return -1;
}
}
public bool Walkable;
public Node(Vector2 pos, bool walkable, float weight = 1) {
Parent = null;
Position = pos;
DistanceToTarget = -1;
Cost = 1;
Weight = weight;
Walkable = walkable;
}
}

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Paths/Assets/Scripts/GridNodeType.cs Normal file
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/// <summary>
/// Describes the type of an individual node on the grid
/// This assists with rendering of the many states of the graph.
/// </summary>
public enum GridNodeType {
Empty,
Wall,
Start,
End,
Seen,
Expanded,
Path
}

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Paths/Assets/Scripts/Pathfinding.cs Normal file
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using System;
using System.Collections.Generic;
using System.Numerics;
/// <summary>
/// A general interface for implementing pathfinding algorithms.
/// </summary>
public interface Pathfinding {
/// <summary>
/// Finds a valid path between two Node objects.
/// </summary>
/// <param name="Start"></param>
/// <param name="End"></param>
/// <returns>A List of Grid objects representing the timeline of Pathfinding</returns>
Tuple<List<Grid>, Stack<Node>> FindPath(Vector2 Start, Vector2 End);
}

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Paths/Assets/Scripts/PathfindingAlgorithms.cs Normal file
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using System.ComponentModel;
public enum PathfindingAlgorithms {
[Description("A description of the A")]
AStar
}

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Paths/Assets/Shaders/GridShader.shader Normal file
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// Upgrade NOTE: upgraded instancing buffer 'Props' to new syntax.
Shader "PDT Shaders/TestGrid" {
Properties {
_LineColor ("Line Color", Color) = (1,1,1,1)
_InactiveColor ("Inactive Color", Color) = (0,0,0,0)
_ActiveColor ("Active Color", Color) = (1,0,0,1)
[PerRendererData] _MainTex ("Albedo (RGB)", 2D) = "white" {}
[IntRange] _GridSize("Grid Size", Range(1,100)) = 10
_LineSize("Line Size", Range(0,1)) = 0.15
}
SubShader {
Tags { "Queue"="AlphaTest" "RenderType"="TransparentCutout" }
LOD 200
CGPROGRAM
// Physically based Standard lighting model, and enable shadows on all light types
#pragma surface surf Standard fullforwardshadows
#pragma target 5.0
sampler2D _MainTex;
struct Input {
float2 uv_MainTex;
};
half _Glossiness = 0.0;
half _Metallic = 0.0;
float4 _LineColor;
float4 _InactiveColor;
float4 _ActiveColor;
static const float4 _gradient[250] = {
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float4(0.0, 0.0, 0.706, 1.0),
float4(0.0, 0.0, 0.69, 1.0),
float4(0.0, 0.0, 0.675, 1.0),
float4(0.0, 0.0, 0.659, 1.0),
float4(0.0, 0.0, 0.639, 1.0),
float4(0.0, 0.0, 0.62, 1.0),
float4(0.0, 0.0, 0.604, 1.0),
float4(0.0, 0.0, 0.588, 1.0),
float4(0.0, 0.0, 0.573, 1.0),
float4(0.0, 0.0, 0.553, 1.0),
float4(0.0, 0.0, 0.537, 1.0),
float4(0.0, 0.0, 0.522, 1.0),
float4(0.0, 0.0, 0.486, 1.0),
float4(0.0, 0.0, 0.471, 1.0)
};
float _GridSize;
float _LineSize;
// DX11 needed to run shader at high grid sizes
#ifdef SHADER_API_D3D11
StructuredBuffer<float> _values;
#else
float _values[1024];
#endif
float _valueLength;
// Add instancing support for this shader. You need to check 'Enable Instancing' on materials that use the shader.
// See https://docs.unity3d.com/Manual/GPUInstancing.html for more information about instancing.
// #pragma instancing_options assumeuniformscaling
UNITY_INSTANCING_BUFFER_START(Props)
// put more per-instance properties here
UNITY_INSTANCING_BUFFER_END(Props)
void surf (Input IN, inout SurfaceOutputStandard o) {
// Albedo comes from a texture tinted by color
float2 uv = IN.uv_MainTex;
fixed4 c = float4(0.0,0.0,0.0,0.0);
float gsize = floor(_GridSize);
gsize += _LineSize;
float2 id = float2(floor(uv.x/(1.0/gsize)), floor(uv.y/(1.0/gsize)));
float4 color = _InactiveColor;
float brightness = _InactiveColor.w;
// Line Color Check
if (_LineSize > 0.0 && (frac(uv.x*gsize) <= _LineSize || frac(uv.y*gsize) <= _LineSize)){
color = _LineColor;
brightness = color.w;
// Heatmap Value Fallback
} else {
float pos = id.y * _GridSize + id.x;
if(pos < _valueLength) {
float index = clamp(floor(_values[pos] * 250), 0, 99);
color = _gradient[index];
// color = lerp(_InactiveColor, _ActiveColor, _values[pos]);
brightness = color.w;
}
}
// Clip transparent spots using alpha cutout
if (brightness == 0.0)
clip(c.a - 1.0);
o.Albedo = float4(color.x * brightness,color.y * brightness,color.z * brightness, brightness);
// Metallic and smoothness come from slider variables
o.Metallic = 0.0;
o.Smoothness = 0.0;
o.Alpha = 0.0;
}
ENDCG
}
FallBack "Diffuse"
}

9
Paths/Assets/Shaders/GridShader.shader.meta Normal file
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guid: b4e207edb1333434ba20f91ec9066366
ShaderImporter:
externalObjects: {}
defaultTextures: []
nonModifiableTextures: []
userData:
assetBundleName:
assetBundleVariant: