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

Paths/Assets/Scenes/Default.unity

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Paths/Assets/Scripts/Algorithms/AStar.cs

@@ -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) {
+        public Stack<Node> FindPath(Vector2 start, Vector2 end) {
-            this._start = Start;
+            this._start = start;
-            this._end = End;
+            this._end = end;
 
-            var start = new Node(Start, true);
+            var startNode = new Node(start, true);
-            var end = new Node(End, 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 (adjacentNodes.Count > 0) {
-                    if (!_closedList.Contains(n) && n.Walkable) {
+                    foreach (Node n in adjacentNodes) {
-                        if (!_openList.Contains(n)) {
+                        if (!_closedList.Contains(n) && n.Walkable) {
-                            n.Parent = current;
+                            if (!_openList.Contains(n)) {
-                            n.DistanceToTarget = NodeGrid.Manhattan(n, end);
+                                n.Parent = current;
-                            n.Cost = n.Weight + n.Parent.Cost;
+                                n.DistanceToTarget = NodeGrid.Manhattan(n, endNode);
+                                n.Cost = n.Weight + n.Parent.Cost;
 
-                            _openList.Add(n);
+                                _openList.Add(n);
-                            _openList = _openList.OrderBy(node => node.F).ToList();
+                                _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;
         }

Paths/Assets/Scripts/Algorithms/NodeGrid.cs

@@ -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));
         }
+
     }
 }

Paths/Assets/Scripts/Manager.cs

@@ -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);
+        GeneratePath();
-        _algorithm = new AStar(nodeGrid);
+        _states = new List<GridState>();
-        
-        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());
     }
 
-    // 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;
+    }
 }

Paths/Assets/Scripts/Pathfinding.cs

@@ -20,4 +20,6 @@ public interface IPathfinding {
     void RecordState();
 
      List<GridState> GetStates();
+     Vector2 Start { get; }
+     Vector2 End { get; }
 }

Paths/Assets/Shaders/GridShader Material.mat

@@ -8,7 +8,7 @@ Material:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_Name: GridShader Material
-  m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
+  m_Shader: {fileID: 4800000, guid: b4e207edb1333434ba20f91ec9066366, type: 3}
   m_ShaderKeywords: 
   m_LightmapFlags: 4
   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}

Paths/Assets/Shaders/GridShader.shader

@@ -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(255 / 255.0, 255 / 255.0, 255 / 255.0, 1.0), // Empty
-        	float4(50  / 255.0, 50  / 255.0, 50  / 255.0, 1.0), // Wall
+        	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
         };