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continuously re-path, random start/end positions, 2 index skip speed, update shader colors

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Xevion
2020-11-10 00:18:01 -06:00
parent f2328a7b4b
commit e04c615f44
7 changed files with 317 additions and 49 deletions
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227
Paths/Assets/Scenes/Default.unity
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45
Paths/Assets/Scripts/Algorithms/AStar.cs
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@@ -14,18 +14,21 @@ namespace Algorithms {
private Vector2 _start;
private Vector2 _end;
public Vector2 Start { get => _start; }
public Vector2 End { get => _end; }
public AStar(NodeGrid nodeGrid) {
this._nodeGrid = nodeGrid;
_states = new List<GridState>();
}
public Stack<Node> FindPath(Vector2 Start, Vector2 End) {
this._start = Start;
this._end = End;
public Stack<Node> FindPath(Vector2 start, Vector2 end) {
this._start = start;
this._end = end;
var start = new Node(Start, true);
var end = new Node(End, true);
var startNode = new Node(start, true);
var endNode = new Node(end, true);
_path = new Stack<Node>();
@@ -33,37 +36,39 @@ namespace Algorithms {
_closedList = new List<Node>();
RecordState();
Node current = start;
Node current = startNode;
// add start node to Open List
_openList.Add(start);
_openList.Add(startNode);
while (_openList.Count != 0 && !_closedList.Exists(x => x.Position == end.Position)) {
while (_openList.Count != 0 && !_closedList.Exists(x => x.Position == endNode.Position)) {
current = _openList[0];
_openList.Remove(current);
_closedList.Add(current);
RecordState();
IEnumerable<Node> adjacentNodes = this._nodeGrid.GetAdjacentNodes(current);
List<Node> adjacentNodes = this._nodeGrid.GetAdjacentNodes(current);
foreach (Node n in adjacentNodes) {
if (!_closedList.Contains(n) && n.Walkable) {
if (!_openList.Contains(n)) {
n.Parent = current;
n.DistanceToTarget = NodeGrid.Manhattan(n, end);
n.Cost = n.Weight + n.Parent.Cost;
if (adjacentNodes.Count > 0) {
foreach (Node n in adjacentNodes) {
if (!_closedList.Contains(n) && n.Walkable) {
if (!_openList.Contains(n)) {
n.Parent = current;
n.DistanceToTarget = NodeGrid.Manhattan(n, endNode);
n.Cost = n.Weight + n.Parent.Cost;
_openList.Add(n);
_openList = _openList.OrderBy(node => node.F).ToList();
_openList.Add(n);
_openList = _openList.OrderBy(node => node.F).ToList();
RecordState();
}
}
}
RecordState();
}
}
// construct path, if end was not closed return null
if (!_closedList.Exists(x => x.Position == end.Position)) {
if (!_closedList.Exists(x => x.Position == endNode.Position)) {
return null;
}
@@ -74,7 +79,7 @@ namespace Algorithms {
_path.Push(temp);
RecordState();
temp = temp.Parent;
} while (temp != start && temp != null);
} while (temp != startNode && temp != null);
return _path;
}

7
Paths/Assets/Scripts/Algorithms/NodeGrid.cs
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@@ -39,7 +39,7 @@ namespace Algorithms {
this.Width = this.grid.Count;
}
public IEnumerable<Node> GetAdjacentNodes(Node node) {
public List<Node> GetAdjacentNodes(Node node) {
List<Node> temp = new List<Node>();
int row = (int) node.Position.Y;
@@ -79,6 +79,10 @@ namespace Algorithms {
return Math.Abs(first.Position.X - second.Position.X) + Math.Abs(first.Position.Y - second.Position.Y);
}
public static float Manhattan(Vector2 algorithmStart, Vector2 algorithmEnd) {
return NodeGrid.Manhattan(new Node(algorithmStart, false), new Node(algorithmEnd, false));
}
/// <summary>
/// Returns a random Vector2 position within the grid.
/// </summary>
@@ -86,5 +90,6 @@ namespace Algorithms {
public Vector2 RandomPosition() {
return new Vector2(Random.Range(0, Width - 1), Random.Range(0, Height - 1));
}
}
}

72
Paths/Assets/Scripts/Manager.cs
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@@ -1,10 +1,9 @@
using System.Collections;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Numerics;
using Algorithms;
using Vector2 = System.Numerics.Vector2;
using UnityEngine;
using Vector2 = System.Numerics.Vector2;
/// <summary>
/// The primary controller of the entire application, managing state, events and sending commands
@@ -12,28 +11,53 @@ using UnityEngine;
public class Manager : MonoBehaviour {
public GridController gridController;
private IPathfinding _algorithm;
private List<GridState> _states;
private int _curIndex;
private Stack<Node> path;
public void Start() {
var nodeGrid = new NodeGrid(gridController.size, gridController.size);
_algorithm = new AStar(nodeGrid);
Vector2 start = new Vector2(0, 0);
Vector2 end = new Vector2(16, 16);
foreach(int index in Enumerable.Range(0, 150))
nodeGrid.FlipRandomWall();
Stack<Node> path = _algorithm.FindPath(start, end);
List<GridState> states = _algorithm.GetStates();
gridController.LoadGridState(states[states.Count - 1]);
Debug.Log(states[states.Count - 1].RenderGrid());
Debug.Log(start);
Debug.Log(end);
// StartCoroutine(LateStart());
GeneratePath();
_states = new List<GridState>();
}
// IEnumerator LateStart() {
// }
public void Update() {
if (_curIndex < _states.Count)
this.LoadNextState();
else {
float t1 = Time.time, t2 = Time.time;
try {
t1 = Time.time;
GeneratePath();
_curIndex = 0;
Debug.Log($"({NodeGrid.Manhattan(_algorithm.Start, _algorithm.End)} in {_states.Count} states. {path.Count} path length.");
t2 = Time.time;
// Debug.Log(t2 - t1);
}
catch (ArgumentOutOfRangeException e) {
}
}
}
private void GeneratePath() {
var nodeGrid = new NodeGrid(gridController.size, gridController.size);
_algorithm = new AStar(nodeGrid);
Vector2 start = nodeGrid.RandomPosition();
Vector2 end = nodeGrid.RandomPosition();
// Vector2 start = new Vector2(1, 1);
// Vector2 end = new Vector2(gridController.size - 5, gridController.size - 5);
foreach (int index in Enumerable.Range(0, 300))
nodeGrid.FlipRandomWall();
path = _algorithm.FindPath(start, end);
_states = _algorithm.GetStates();
}
private void LoadNextState() {
GridState state = _states[_curIndex];
gridController.LoadGridState(state);
_curIndex += 2;
}
}

2
Paths/Assets/Scripts/Pathfinding.cs
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@@ -20,4 +20,6 @@ public interface IPathfinding {
void RecordState();
List<GridState> GetStates();
Vector2 Start { get; }
Vector2 End { get; }
}

7
Paths/Assets/Shaders/GridShader Material.mat
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@@ -8,7 +8,7 @@ Material:
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m_Name: GridShader Material
m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
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m_ShaderKeywords:
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m_EnableInstancingVariants: 0
@@ -63,6 +63,8 @@ Material:
- _GlossMapScale: 1
- _Glossiness: 0.5
- _GlossyReflections: 1
- _GridSize: 31
- _LineSize: 0.055
- _Metallic: 0
- _Mode: 0
- _OcclusionStrength: 1
@@ -73,5 +75,8 @@ Material:
- _UVSec: 0
- _ZWrite: 1
m_Colors:
- _ActiveColor: {r: 1, g: 0, b: 0, a: 1}
- _Color: {r: 1, g: 1, b: 1, a: 1}
- _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
- _InactiveColor: {r: 0, g: 0, b: 0, a: 0}
- _LineColor: {r: 1, g: 1, b: 1, a: 1}

6
Paths/Assets/Shaders/GridShader.shader
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@@ -33,12 +33,12 @@ Shader "PDT Shaders/TestGrid" {
float4 _ActiveColor;
static const float4 _gridColors[7] = {
float4(255 / 255.0, 255 / 255.0, 255 / 255.0, 0.0), // Empty
float4(50 / 255.0, 50 / 255.0, 50 / 255.0, 1.0), // Wall
float4(255 / 255.0, 255 / 255.0, 255 / 255.0, 1.0), // Empty
float4(0 / 255.0, 0 / 255.0, 0 / 255.0, 1.0), // Wall
float4(0 / 255.0, 255 / 255.0, 0 / 255.0, 1.0), // Start
float4(255 / 255.0, 0 / 255.0, 0 / 255.0, 1.0), // End
float4(252 / 255.0, 236 / 255.0, 3 / 255.0, 1.0), // Seen
float4(252 / 255.0, 127 / 255.0, 3 / 255.0, 1.0), // Expanded
float4(227 / 255.0, 65 / 255.0, 11 / 255.0, 1.0), // Expanded
float4(166 / 255.0, 2 / 255.0, 51 / 255.0, 1.0) // Path
};