Merge branch 'EnemyPathing' into 'master'

Enemy pathing



See merge request !11

Assets/Scripts/Pathing/Heap.cs

+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+public class Heap {
+
+    Tile[] heapTiles;
+    int itemCount;
+
+    //replace openList with Heap
+
+    //add heapIndex, compareTo to tile class
+    //compare fCost of node then hCost
+    //item.compareTo(item2) should return pos if item is less than item2, neg if item is greater than item2
+
+    //create heap
+    public Heap(int maxSize)
+    {
+        heapTiles = new Tile[maxSize];
+    }
+
+    //add item into heap and sort it into position
+    public void Add(Tile item)
+    {
+        item.heapIndex = itemCount;
+        heapTiles[itemCount] = item;
+        SortUp(item);
+        itemCount++;
+    }
+
+    //remove first tile and resort heap
+    public Tile RemoveFirst()
+    {
+        Tile first = heapTiles[0];
+        itemCount--;
+        heapTiles[0] = heapTiles[itemCount];
+        heapTiles[0].heapIndex = 0;
+        SortDown(heapTiles[0]);
+        return first;
+    }
+
+    //resort item position
+    public void UpdateItem(Tile item)
+    {
+        SortUp(item);
+    }
+
+    
+    public int Count
+    {
+        get
+        {
+            return itemCount;
+        }
+    }
+
+    //does heap contain item
+    public bool Contains(Tile item)
+    {
+        return Equals(heapTiles[item.heapIndex], item);
+    }
+
+    //sort tile lower into heap
+    void SortDown(Tile item)
+    {
+        while (true)
+        {
+            int leftChildIndex = item.heapIndex * 2 + 1;
+            int rightChildIndex = (item.heapIndex * 2) + 2;
+            int swapIndex = 0;
+
+            if (leftChildIndex < itemCount)
+            {
+                swapIndex = leftChildIndex;
+
+                if (rightChildIndex < itemCount)
+                {
+                    if (heapTiles[leftChildIndex].CompareTo(heapTiles[rightChildIndex]) < 0)
+                    {
+                        swapIndex = rightChildIndex;
+                    }
+                }
+
+                if (item.CompareTo(heapTiles[swapIndex]) < 0)
+                {
+                    Swap(item, heapTiles[swapIndex]);
+                }
+                else
+                {
+                    return;
+                }
+            }
+            else
+            {
+                return;
+            }
+        }
+    }
+
+    //sort item higher into heap
+    void SortUp(Tile item)
+    {
+        int indexOfParent = (item.heapIndex - 1) / 2;
+
+        while (true)
+        {
+            Tile parent = heapTiles[indexOfParent];
+
+            if (item.CompareTo(parent) > 0)
+            {
+                Swap(item, parent);
+            }
+            else
+            {
+                break;
+            }
+            indexOfParent = (item.heapIndex - 1) / 2;
+        }
+    }
+
+    //swap tiles
+    void Swap(Tile item1, Tile item2)
+    {
+        heapTiles[item1.heapIndex] = item2;
+        heapTiles[item2.heapIndex] = item1;
+        int tempIndex = item1.heapIndex;
+        item1.heapIndex = item2.heapIndex;
+        item2.heapIndex = tempIndex;
+    }
+}
+
+public interface HeapItem<Tile> : IComparable<Tile>
+{
+    int heapIndex
+    {
+        get;
+
+        set;
+    }
+}
\ No newline at end of file

Assets/Scripts/Pathing/Heap.cs.meta

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+guid: 243bb794b9f808b409bcd50557270e5b
+timeCreated: 1477007304
+licenseType: Free
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Assets/Scripts/Pathing/MapGen.cs

+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+public class MapGen : MonoBehaviour {
+
+	public int rows = 6;
+	public int cols = 6;
+
+	public GameObject tile;
+	public GameObject enemy;
+	public static Tile[,] map;
+
+	public Tile startPos;
+	public Tile endPos;
+
+	public Heap open;
+
+	void Start () {
+
+		map = new Tile[rows, cols];
+
+		float startx = -(float)rows / 2f * tile.transform.lossyScale.x;
+		float starty = (float)cols / 2f * tile.transform.lossyScale.y;
+
+		for (int y = 0; y < cols; y++) {
+			for (int x = 0; x < rows; x++) {
+
+				map[x, y] = ((GameObject) Instantiate (tile, new Vector2(startx + x * tile.GetComponent<BoxCollider2D>().size.x,
+					starty - y * tile.GetComponent<BoxCollider2D>().size.x), Quaternion.identity)).GetComponent<Tile> ();
+
+				map [x, y].x = x;
+				map [x, y].y = y;
+			}
+		}
+
+		open = new Heap (rows * cols);
+
+		enemy = (GameObject)(Instantiate (enemy, map[0, 0].transform.position, Quaternion.identity));
+	}
+
+	void FixedUpdate () {
+
+		if (map[rows - 1, cols - 1].prev != null) {
+
+			Tile current = map [rows - 1, cols - 1];
+			while (current.prev != null) {
+				Debug.DrawLine (current.transform.position, current.prev.transform.position, Color.red);
+				current = current.prev;
+			}
+		}
+	}
+
+	public void BeginPath () {
+		Path (map[0, 0], map[rows - 1, cols - 1]);
+	}
+
+	void Path (Tile start, Tile finish) {
+
+		if (start == finish) {
+			return;
+		}
+
+		open.Add (start);
+		start.goal = 0;
+		start.fitness = EstimateHeuristic (start, finish);
+
+		while (open.Count != 0) {
+
+			Tile current = open.RemoveFirst ();
+			current.closed = true;
+
+			List<Tile> neighbors = current.GetNeighbors();
+			for (int i = 0; i < neighbors.Count; i++) {
+				if (neighbors[i].closed) {
+					continue;
+				}
+
+				float tempGoal = current.goal + DistBetween(current, neighbors[i]) + 1 / neighbors[i].speedPercent;
+				if (!open.Contains (neighbors[i])) {
+					
+					neighbors [i].prev = current;
+					neighbors [i].goal = tempGoal;
+					neighbors [i].fitness = neighbors[i].goal + EstimateHeuristic(neighbors[i], finish);
+					open.Add (neighbors [i]);
+
+				}else if (tempGoal >= neighbors[i].goal) {
+					continue;
+				}
+			}
+		}
+
+//		PrintPathRetrace (finish);
+		enemy.GetComponent<TraversePath> ().BeginTraversingPath (CreatePath (finish));
+	}
+
+	float EstimateHeuristic (Tile current, Tile finish) {
+		return Mathf.Abs (current.x - finish.x) + Mathf.Abs (current.y - finish.y);
+	}
+
+	float DistBetween (Tile current, Tile neighbor) {
+		return Mathf.Pow(current.x - neighbor.x, 2) + Mathf.Pow(current.y - neighbor.y, 2);
+	}
+
+	void PrintPathRetrace (Tile end) {
+
+		while (end != null) {
+			Debug.Log (end.x + ", " + end.y);
+			end = end.prev;
+		}
+	}
+
+	Path CreatePath (Tile finish) {
+
+		Path path = new Path ();
+
+		while (finish != null) {
+			path.Push (finish);
+			finish = finish.prev;
+		}
+
+		return path;
+	}
+}

Assets/Scripts/Pathing/MapGen.cs.meta

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Assets/Scripts/Pathing/MapMaker.cs

+using UnityEngine;
+using System.Collections;
+
+public class MapMaker : MonoBehaviour {
+
+	// Use this for initialization
+	void Start () {
+	
+	}
+	
+	// Update is called once per frame
+	void Update () {
+	
+	}
+}

Assets/Scripts/Pathing/MapMaker.cs.meta

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Assets/Scripts/Pathing/Path.cs

+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+public class Path {
+
+	public Tile start;
+	public Tile finish;
+
+	private Stack<Tile> path;
+
+	public Path () : this(0) { } 
+
+	public Path (int count) {
+		path = new Stack<Tile> (count);
+	}
+
+	public void Push (Tile t) {
+		path.Push (t);
+	}
+
+	public Tile Pop () {
+		return path.Pop ();
+	}
+
+	public Tile Peek () {
+		return path.Peek ();
+	}
+
+	public bool IsEmpty () {
+		return path.Count == 0;
+	}
+}

Assets/Scripts/Pathing/Path.cs.meta

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Assets/Scripts/Pathing/Tile.cs

+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+public class Tile : MonoBehaviour, IComparable {
+
+	public bool passable = true;
+
+	public Color canPas = new Color (255f, 255f, 255f);
+	public Color cantPas = new Color (0f, 0f, 0f);
+
+	private SpriteRenderer sprite;
+
+	public int x;
+	public int y;
+	public Tile prev;
+
+	public float goal = float.MaxValue;
+	public float fitness = float.MaxValue;
+
+	public float speedPercent = 1f;
+
+	public int heapIndex;
+	public bool closed;
+
+	void Start () {
+
+		sprite = GetComponent<SpriteRenderer> ();
+	}
+
+	void OnMouseDown () {
+
+		passable = !passable;
+
+		if (passable) {
+			sprite.color = canPas;
+		} else {
+			sprite.color = cantPas;
+		}
+	}
+
+	public int CompareTo (object obj) {
+
+		if (!(obj is Tile)) {
+			return -1;
+		}
+
+		return fitness - ((Tile) obj).fitness < 0 ? 1 : -1;
+	}
+
+	public List<Tile> GetNeighbors () {
+
+		List<Tile> neighbors = new List<Tile> ();
+
+		if (x < MapGen.map.GetLength(0) - 1 && MapGen.map[x + 1, y].passable) {
+			neighbors.Add (MapGen.map[x + 1, y]);
+		}
+
+		if (x < MapGen.map.GetLength(0) - 1 && y < MapGen.map.GetLength(1) - 1 && MapGen.map[x + 1, y + 1].passable
+			&& MapGen.map[x, y + 1].passable && MapGen.map[x + 1, y].passable) {
+			neighbors.Add (MapGen.map[x + 1, y + 1]);
+		}
+
+		if (y < MapGen.map.GetLength (1) - 1 && MapGen.map [x, y + 1].passable) {
+			neighbors.Add (MapGen.map[x, y + 1]);
+		}
+
+		if (x > 0 && y < MapGen.map.GetLength(1) - 1 && MapGen.map[x - 1, y + 1].passable
+			&& MapGen.map[x, y + 1].passable && MapGen.map[x - 1, y].passable) {
+			neighbors.Add (MapGen.map[x - 1, y + 1]);
+		}
+
+		if (x > 0 && MapGen.map[x - 1, y].passable) {
+			neighbors.Add (MapGen.map[x - 1, y]);
+		}
+
+		if (x > 0 && y > 0 && MapGen.map[x - 1, y - 1].passable
+			&& MapGen.map[x, y - 1].passable && MapGen.map[x - 1, y].passable) {
+			neighbors.Add (MapGen.map[x - 1, y - 1]);
+		}
+
+		if (y > 0 && MapGen.map[x, y - 1].passable) {
+			neighbors.Add (MapGen.map[x, y - 1]);
+		}
+
+		if (x < MapGen.map.GetLength(0) - 1 && y > 0 && MapGen.map[x + 1, y - 1].passable
+			&& MapGen.map[x, y - 1].passable && MapGen.map[x + 1, y].passable) {
+			neighbors.Add (MapGen.map[x + 1, y - 1]);
+		}
+
+		return neighbors;
+	}
+}

Assets/Scripts/Pathing/Tile.cs.meta

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Assets/Scripts/Pathing/TraversePath.cs

+using UnityEngine;
+using System.Collections;
+
+public class TraversePath : MonoBehaviour {
+
+	public float speed;
+	public float pathErrorRange;
+
+	private float speedLerpDistance;
+
+	private Path path;
+
+	void Start () {
+
+		speedLerpDistance = speed * Time.fixedDeltaTime;
+	}
+	
+	void FixedUpdate () {
+	
+		if (path != null && !path.IsEmpty ()) {
+
+			Vector3 tilePos = path.Peek ().transform.position;
+			float distance = Vector3.Distance (transform.position, tilePos);
+
+			transform.position = Vector3.Lerp (transform.position, tilePos, 1 / distance * speedLerpDistance);
+
+			if (distance <= pathErrorRange) {
+				path.Pop ();
+			}
+
+		}
+	}
+
+	//path must begin on current tile
+	public void BeginTraversingPath (Path path) {
+		this.path = path;
+	}
+}

Assets/Scripts/Pathing/TraversePath.cs.meta

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Assets/script/MapGen.cs

+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+public class MapGen : MonoBehaviour {
+
+	public int rows = 6;
+	public int cols = 6;
+
+	public GameObject tile;
+	public GameObject enemy;
+	public static Tile[,] map;
+
+	public Tile startPos;
+	public Tile endPos;
+
+	public List<Tile> open;
+	public List<Tile> closed;
+
+	void Start () {
+
+		map = new Tile[rows, cols];
+
+		float startx = -(float)rows / 2f * tile.transform.lossyScale.x;
+		float starty = (float)cols / 2f * tile.transform.lossyScale.y;
+
+		for (int y = 0; y < cols; y++) {
+			for (int x = 0; x < rows; x++) {
+
+				map[x, y] = ((GameObject) Instantiate (tile, new Vector2(startx + x * tile.GetComponent<BoxCollider2D>().size.x,
+					starty - y * tile.GetComponent<BoxCollider2D>().size.x), Quaternion.identity)).GetComponent<Tile> ();
+
+				map [x, y].x = x;
+				map [x, y].y = y;
+			}
+		}
+
+		open = new List<Tile> ();
+		closed = new List<Tile> ();
+
+		enemy = (GameObject)(Instantiate (enemy, map[0, 0].transform.position, Quaternion.identity));
+	}
+
+	void FixedUpdate () {
+
+		if (map[rows - 1, cols - 1].prev != null) {
+
+			Tile current = map [rows - 1, cols - 1];
+			while (current.prev != null) {
+				Debug.DrawLine (current.transform.position, current.prev.transform.position, Color.red);
+				current = current.prev;
+			}
+		}
+	}
+
+	public void BeginPath () {
+		Path (map[0, 0], map[rows - 1, cols - 1]);
+	}
+
+	void Path (Tile start, Tile finish) {
+
+		if (start == finish) {
+			return;
+		}
+
+		open.Add (start);
+		start.goal = 0;
+		start.fitness = EstimateHeuristic (start, finish);
+
+		while (open.Count != 0) {
+
+			Tile current = null;
+			int index = 0;
+			float lowestFitness = open[0].fitness;
+			for (int i = 0; i < open.Count; i++) {
+				if (open[i].fitness < lowestFitness) {
+					lowestFitness = open [i].fitness;
+					index = i;
+				}
+			}
+
+			current = open[index];
+
+			open.RemoveAt (index);
+			closed.Add (current);
+
+			List<Tile> neighbors = current.GetNeighbors();
+			for (int i = 0; i < neighbors.Count; i++) {
+				if (closed.Contains (neighbors[i])) {
+					continue;
+				}
+
+				float tempGoal = current.goal + DistBetween(current, neighbors[i]);
+				if (!open.Contains (neighbors[i])) {
+					open.Add (neighbors [i]);
+				}else if (tempGoal >= neighbors[i].goal) {
+					continue;
+				}
+
+				neighbors [i].prev = current;
+				neighbors [i].goal = tempGoal;
+				neighbors [i].fitness = neighbors[i].goal + EstimateHeuristic(neighbors[i], finish);
+			}
+		}
+
+//		PrintPathRetrace (finish);
+		enemy.GetComponent<TraversePath> ().BeginTraversingPath (CreatePath (finish));
+	}
+
+	float EstimateHeuristic (Tile current, Tile finish) {
+		return Mathf.Abs (current.x - finish.x) + Mathf.Abs (current.y - finish.y);
+	}
+
+	float DistBetween (Tile current, Tile neighbor) {
+		return Mathf.Pow(current.x - neighbor.x, 2) + Mathf.Pow(current.y - neighbor.y, 2);
+	}
+
+	void PrintPathRetrace (Tile end) {
+
+		while (end != null) {
+			Debug.Log (end.x + ", " + end.y);
+			end = end.prev;
+		}
+	}
+
+	Path CreatePath (Tile finish) {
+
+		Path path = new Path ();
+
+		while (finish != null) {
+			path.Push (finish);
+			finish = finish.prev;
+		}
+
+		return path;
+	}
+}

Assets/script/Path.cs

+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+public class Path {
+
+	public Tile start;
+	public Tile finish;
+
+	private Stack<Tile> path;
+
+	public Path () : this(0) { } 
+
+	public Path (int count) {
+		path = new Stack<Tile> (count);
+	}
+
+	public void Push (Tile t) {
+		path.Push (t);
+	}
+
+	public Tile Pop () {
+		return path.Pop ();
+	}
+
+	public Tile Peek () {
+		return path.Peek ();
+	}
+
+	public bool IsEmpty () {
+		return path.Count == 0;
+	}
+}

Assets/script/Tile.cs

+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+