mirror of
https://github.com/kuhyx/WUT_Computer_Science.git
synced 2026-07-04 18:03:14 +02:00
Merge branch 'Development' into merloj-soldier_communication
This commit is contained in:
Maciekxdabu
commit
8f0e1a45ac
55
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8
theProject/Assets/Scripts/Algorithms.meta
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8
theProject/Assets/Scripts/Algorithms.meta
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143
theProject/Assets/Scripts/Algorithms/Pathfinding.cs
Normal file
143
theProject/Assets/Scripts/Algorithms/Pathfinding.cs
Normal file
@ -0,0 +1,143 @@
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using System.Collections;
|
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using System.Collections.Generic;
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using UnityEngine;
|
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using System.Collections.Specialized;
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// normal C# object
|
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public class Pathfinding : MonoBehaviour
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{
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readonly int EMPTY_TILE_COST = 1;
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readonly int UNREACHABLE = int.MaxValue;
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readonly int OCCUPIED_TILE_COST = int.MaxValue;
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OrderedDictionary resolvedNodes;
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OrderedDictionary nodesToExplore;
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// returns true if a valid path was found
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static public Pathfinding Instance;
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private void Awake()
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{
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Instance = this;
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}
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public bool FindPath(Vector2Int startCoords, Vector2Int endCoords, out List<Vector2Int> path, int maxPathPointDistanceFromStart = int.MaxValue)
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{
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path = new List<Vector2Int>();
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if (TilemapManager.ins.GetTileState(endCoords.x, endCoords.y) == TilemapManager.TileState.outOfBounds)
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{
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return false;
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}
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resolvedNodes = new OrderedDictionary();
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nodesToExplore = new OrderedDictionary();
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PathNode finalNode = null;
|
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// List<PathNode> finalNodes? // keep track of nodes that are at the edge of soldier's vision, so they can become a destination now
|
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nodesToExplore.Add(startCoords, new PathNode(null, startCoords, 0));
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while (nodesToExplore.Count > 0)
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{
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PathNode currentNode = (PathNode)nodesToExplore[0];
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if(currentNode.Coords == endCoords)
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{// found path
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finalNode = currentNode; // this node is the destination node, do not search for paths from it
|
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nodesToExplore.Remove(currentNode.Coords);
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resolvedNodes.Add(currentNode.Coords, currentNode);
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continue; // there might be a quicker path, so continue exploring nodes
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}
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foreach (Vector2Int targetCoord in GetNeighbors(currentNode.Coords))
|
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{
|
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int newCost = GetTargetCost(currentNode.Cost, targetCoord);
|
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if (nodesToExplore.Contains(targetCoord)) // do not add a tile to be explored twice
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{// check if found cheaper path
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PathNode neighbor = (PathNode)nodesToExplore[targetCoord];
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if (neighbor.Cost > newCost && newCost > 0)
|
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{
|
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nodesToExplore.Remove(targetCoord);
|
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nodesToExplore.Add(targetCoord, new PathNode(currentNode, targetCoord, newCost));
|
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}
|
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continue;
|
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}
|
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if (resolvedNodes.Contains(targetCoord))
|
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{// check if found cheaper path
|
||||
PathNode neighbor = (PathNode)resolvedNodes[targetCoord];
|
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if (neighbor.Cost > newCost && newCost > 0)
|
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nodesToExplore.Add(targetCoord, new PathNode(currentNode, targetCoord, newCost));
|
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continue;
|
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}// not evaluated previously: add to be explored
|
||||
nodesToExplore.Add(targetCoord, new PathNode(currentNode, targetCoord, newCost));
|
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}
|
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|
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resolvedNodes.Add(currentNode.Coords, currentNode);
|
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nodesToExplore.Remove(currentNode.Coords);
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}
|
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// all nodes explored, find path
|
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if(finalNode == null)
|
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{// did not find final node, decide where to go for a temporary step
|
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|
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}
|
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path = ConstructPath(finalNode);
|
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if (path.Count < 1)
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return false;
|
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return true;
|
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}
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private class PathNode
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{
|
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public PathNode Previous;
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public Vector2Int Coords;
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public int Cost;
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public PathNode(PathNode previous, Vector2Int corods, int cost)
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{
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Previous = previous;
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Coords = corods;
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Cost = cost;
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}
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}
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{
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TilemapManager.TileState targetState = TilemapManager.ins.GetTileState(targetCoords.x, targetCoords.y);
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if(targetState == TilemapManager.TileState.free)
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{
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return OCCUPIED_TILE_COST;
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}
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// get movable neighbor coordinates
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private List<Vector2Int> GetNeighbors(Vector2Int coords)
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{
|
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List<Vector2Int> final = new List<Vector2Int>();
|
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List<Vector2Int> neighbors = new List<Vector2Int>();
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neighbors.Add(coords + Vector2Int.up);
|
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neighbors.Add(coords + Vector2Int.down);
|
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neighbors.Add(coords + Vector2Int.left);
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neighbors.Add(coords + Vector2Int.right);
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foreach(Vector2Int neighbor in neighbors)
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{
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if(TilemapManager.ins.GetTileState(neighbor.x, neighbor.y) != TilemapManager.TileState.outOfBounds)
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{
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return final;
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}
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private List<Vector2Int> ConstructPath(PathNode finalNode)
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{
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List<Vector2Int> path = new List<Vector2Int>();
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PathNode currentNode = finalNode;
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while(currentNode.Previous != null)
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{//TEMP just give next step
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path.Add(currentNode.Coords);
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currentNode = currentNode.Previous;
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}
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path.Reverse();
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//throw new System.NotImplementedException();
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return path;
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}
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}
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11
theProject/Assets/Scripts/Algorithms/Pathfinding.cs.meta
Normal file
11
theProject/Assets/Scripts/Algorithms/Pathfinding.cs.meta
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@ -0,0 +1,11 @@
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fileFormatVersion: 2
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guid: 7fdb1db3b8721dc4890f08d2d304492c
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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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@ -30,6 +30,11 @@ public class Entity : MonoBehaviour
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return myTeam;
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}
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public Vector2Int GetTileCoord()
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{
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return tileCoord;
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}
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// Start is called before the first frame update
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protected virtual void Start(){
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healthPoints = maxHealthPoints; // initialize health
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@ -25,9 +25,13 @@ public class Soldier : Entity
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return;
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}
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Vector2Int movementStep = (soldier.movementDestination - soldier.tileCoord);
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movementStep.Clamp(-Vector2Int.one, Vector2Int.one);
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Vector2Int movementStepDestination = soldier.tileCoord + movementStep;
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List<Vector2Int> path;
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if(!Pathfinding.Instance.FindPath(soldier.tileCoord, soldier.movementDestination, out path))
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{
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return; // cannot find path: do nothing (for now)
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}
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Vector2Int movementStepDestination = path[0];
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if (!TilemapManager.MoveSoldierS(soldier.tileCoord.x, soldier.tileCoord.y, movementStepDestination.x, movementStepDestination.y))
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@ -5,7 +5,7 @@ using UnityEngine;
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public class Formation : MonoBehaviour
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{
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[SerializeField] Squad squad;
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[SerializeField] Squad squad;
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void Awake()
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{
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@ -15,24 +15,71 @@ public class Formation : MonoBehaviour
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public Dictionary<Entity, Vector2Int> CalculatePositions(Vector2Int coordinates)
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{
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List<Entity> soldiers = squad.GetSoldiers();
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List<Entity> soldiers = new List<Entity>(squad.GetSoldiers());
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Dictionary<Entity, Vector2Int> soldiersNewCoordinates = new Dictionary<Entity, Vector2Int>();
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int soldierNumber = 0;
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foreach (Entity Entity in soldiers)
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int numberOfSoldiers = soldiers.Count;
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for(int i = numberOfSoldiers / 2; i >= 0; i--)
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{
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soldiersNewCoordinates.Add(Entity, CalculateSoldierCoordinates(soldierNumber, coordinates));
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soldierNumber++;
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float shortestDistance = Mathf.Infinity;
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Entity nearestSoldier = null;
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Vector2Int newCoordinates = new Vector2Int(coordinates.x + i, coordinates.y);
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foreach (Entity Entity in soldiers)
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{
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float distanceToTile = Vector2.Distance(Entity.GetTileCoord(), newCoordinates);
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if (distanceToTile < shortestDistance)
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{
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shortestDistance = distanceToTile;
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nearestSoldier = Entity;
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}
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}
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if (nearestSoldier != null)
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{
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soldiersNewCoordinates.Add(nearestSoldier, newCoordinates);
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soldiers.Remove(nearestSoldier);
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}
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shortestDistance = Mathf.Infinity;
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nearestSoldier = null;
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newCoordinates = new Vector2Int(coordinates.x - i, coordinates.y);
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foreach (Entity Entity in soldiers)
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{
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float distanceToTile = Vector2.Distance(Entity.GetTileCoord(), newCoordinates);
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if (distanceToTile < shortestDistance)
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{
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shortestDistance = distanceToTile;
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nearestSoldier = Entity;
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}
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}
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if (nearestSoldier != null)
|
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{
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soldiersNewCoordinates.Add(nearestSoldier, newCoordinates);
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soldiers.Remove(nearestSoldier);
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||||
}
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||||
}
|
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return soldiersNewCoordinates;
|
||||
}
|
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// https://docs.microsoft.com/en-us/dotnet/csharp/language-reference/keywords/in-parameter-modifier
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private Vector2Int CalculateSoldierCoordinates(in int soldierNumber, in Vector2Int coordinates)
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private Vector2Int CalculateSoldierCoordinates(int soldierNumber, in Vector2Int coordinates)
|
||||
{
|
||||
// Horizontal line we change x
|
||||
Vector2Int soldierCoordinates = new Vector2Int(coordinates.x + soldierNumber, coordinates.y);
|
||||
return soldierCoordinates;
|
||||
if(soldierNumber % 2 == 1) soldierNumber = -1 * soldierNumber;
|
||||
TilemapManager.TileState tileState = TilemapManager.GetTileState(coordinates.x + soldierNumber, coordinates.y);
|
||||
if ( tileState == TilemapManager.TileState.free)
|
||||
{
|
||||
Vector2Int soldierCoordinates = new Vector2Int(coordinates.x + soldierNumber, coordinates.y);
|
||||
return soldierCoordinates;
|
||||
} else if (tileState == TilemapManager.TileState.taken)
|
||||
{
|
||||
Vector2Int soldierCoordinates = new Vector2Int(coordinates.x, coordinates.y);
|
||||
return soldierCoordinates;
|
||||
} else
|
||||
{
|
||||
Vector2Int soldierCoordinates = new Vector2Int(coordinates.x, coordinates.y);
|
||||
return soldierCoordinates;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
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||||
@ -42,7 +42,7 @@ public class TilemapManager : MonoBehaviour
|
||||
|
||||
// private (do not edit) variables
|
||||
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||||
private static TilemapManager ins;
|
||||
public static TilemapManager ins;
|
||||
|
||||
private Tile[,] tiles = null;
|
||||
|
||||
@ -179,12 +179,12 @@ public class TilemapManager : MonoBehaviour
|
||||
|
||||
// ---------- private methods
|
||||
|
||||
private TileState GetTileState(int x, int y)
|
||||
public static TileState GetTileState(int x, int y)
|
||||
{
|
||||
if (x < 0 || y < 0 || x >= mapSize.x || y >= mapSize.y)
|
||||
if (x < 0 || y < 0 || x >= ins.mapSize.x || y >= ins.mapSize.y)
|
||||
return TileState.outOfBounds;
|
||||
|
||||
if (tiles[x, y].standingEntity == null)
|
||||
if (ins.tiles[x, y].standingEntity == null)
|
||||
return TileState.free;
|
||||
|
||||
return TileState.taken;
|
||||
|
||||
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Block a user