Merge branch 'EnemyPathingFixes' into 'master'

Enemy pathing fixes

See merge request !14

Assets/Prefabs/blue.prefab.meta

+fileFormatVersion: 2
+guid: d3fd44e8ccb7ad54b8f9d534900cdb93
+timeCreated: 1477085344
+licenseType: Free
+NativeFormatImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Prefabs/white.prefab.meta

+fileFormatVersion: 2
+guid: d84b90404a95ff74c813d205e25dfd0c
+timeCreated: 1477085344
+licenseType: Free
+NativeFormatImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Resources/Levels/0.png.meta

+fileFormatVersion: 2
+guid: 74d7f1f922d265a4cb8e8989f9608bbf
+timeCreated: 1477086866
+licenseType: Free
+TextureImporter:
+  fileIDToRecycleName: {}
+  serializedVersion: 2
+  mipmaps:
+    mipMapMode: 0
+    enableMipMap: 1
+    linearTexture: 0
+    correctGamma: 0
+    fadeOut: 0
+    borderMipMap: 0
+    mipMapFadeDistanceStart: 1
+    mipMapFadeDistanceEnd: 3
+  bumpmap:
+    convertToNormalMap: 0
+    externalNormalMap: 0
+    heightScale: 0.25
+    normalMapFilter: 0
+  isReadable: 1
+  grayScaleToAlpha: 0
+  generateCubemap: 0
+  cubemapConvolution: 0
+  cubemapConvolutionSteps: 7
+  cubemapConvolutionExponent: 1.5
+  seamlessCubemap: 0
+  textureFormat: -1
+  maxTextureSize: 2048
+  textureSettings:
+    filterMode: 0
+    aniso: 16
+    mipBias: -1
+    wrapMode: 1
+  nPOTScale: 0
+  lightmap: 0
+  rGBM: 0
+  compressionQuality: 50
+  allowsAlphaSplitting: 0
+  spriteMode: 1
+  spriteExtrude: 1
+  spriteMeshType: 1
+  alignment: 0
+  spritePivot: {x: 0.5, y: 0.5}
+  spriteBorder: {x: 0, y: 0, z: 0, w: 0}
+  spritePixelsToUnits: 100
+  alphaIsTransparency: 1
+  spriteTessellationDetail: -1
+  textureType: 5
+  buildTargetSettings: []
+  spriteSheet:
+    serializedVersion: 2
+    sprites: []
+    outline: []
+  spritePackingTag: 
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Resources/Levels/0.txt

+Assets/Resources/Prefab/1_front.prefab
+0
+0
+0
+Assets/Resources/Prefab/5_back.prefab
+255
+255
+255
+Assets/Resources/Prefab/crate_16.prefab
+255
+0
+0
+Assets/Resources/Prefab/Tree_01.prefab
+0
+255
+0

Assets/Resources/Levels/0.txt.meta

+fileFormatVersion: 2
+guid: b994f2c1c032bdf47a3135af993751bf
+timeCreated: 1477086128
+licenseType: Free
+TextScriptImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Resources/Prefab/1_front.prefab.meta

+fileFormatVersion: 2
+guid: 87ed77aef35072942a2705888df1a98f
+timeCreated: 1477086529
+licenseType: Free
+NativeFormatImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Resources/Prefab/5_back.prefab.meta

+fileFormatVersion: 2
+guid: fe45769cb9d72ef458a5450c4d6cb5f6
+timeCreated: 1477086550
+licenseType: Free
+NativeFormatImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Resources/Prefab/Tree_01.prefab.meta

+fileFormatVersion: 2
+guid: 47cd14cbf89bb8c4e9312e93e76b8811
+timeCreated: 1477086506
+licenseType: Free
+NativeFormatImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/resource.meta → Assets/Scenes.meta

 fileFormatVersion: 2
-guid: 026ac4c911a0e114891980ac911e46c6
+guid: 9286c3aa67775f045a5055f3f164abde
 folderAsset: yes
-timeCreated: 1475761198
+timeCreated: 1477085342
 licenseType: Free
 DefaultImporter:
   userData: 

Assets/Scenes/Map Loader.unity.meta

+fileFormatVersion: 2
+guid: 9ebfaa068bf3ce248a1b8b8036d59c46
+timeCreated: 1477086128
+licenseType: Free
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scenes/Map Maker.unity.meta

+fileFormatVersion: 2
+guid: d9bbbcc5e70ac6c4bbd42b3651aefea7
+timeCreated: 1477611955
+licenseType: Free
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scenes/test.unity.meta

+fileFormatVersion: 2
+guid: 2c983046a45213c438316fd281ecc003
+timeCreated: 1477182966
+licenseType: Free
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Resources/Prefabs.meta → Assets/Scripts.meta

 fileFormatVersion: 2
-guid: 8e3fef4918cc34643b1b36754416b44c
+guid: 4560b1c3b268ec94ca00c66f9b71ea9d
 folderAsset: yes
-timeCreated: 1477029607
+timeCreated: 1477085342
 licenseType: Free
 DefaultImporter:
   userData: 

Assets/Scripts/Heap.cs

-using UnityEngine;
-using System;
-using System.Collections;
-using System.Collections.Generic;
-
-/*
-public class Heap <Tile> where Tile : HeapItem<Tile>{
-
-    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;
-    }
-}
-*/

Assets/Scripts/Heap.cs.meta

-fileFormatVersion: 2
-guid: 243bb794b9f808b409bcd50557270e5b
-timeCreated: 1477007304
-licenseType: Free
-MonoImporter:
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Scripts/MapTool/MapMaker.cs

+using UnityEngine;
+using UnityEngine.UI;
+using System.Collections;
+
+public class MapMaker : MonoBehaviour {
+
+	public GameObject emptyTile;
+
+	private Text rowsText;
+	private Text colsText;
+
+	private Tile[,] map;
+
+	void Start () {
+	
+		rowsText = GameObject.Find ("Rows").transform.FindChild("Text").GetComponent<Text> ();
+		colsText = GameObject.Find ("Cols").transform.FindChild("Text").GetComponent<Text> ();
+	}
+
+	public void GenerateEmptyTiles () {
+
+		int rows = 0;
+		int cols = 0;
+
+		int.TryParse (rowsText.text, out rows);
+		int.TryParse (colsText.text, out cols);
+
+		map = new Tile[cols, rows];
+
+		float startx = -(float)cols / 2f * emptyTile.transform.lossyScale.x;
+		float starty = (float)rows / 2f * emptyTile.transform.lossyScale.y;
+
+		for (int y = 0; y < rows; y++) {
+			for (int x = 0; x < cols; x++) {
+
+				map[x, y] = ((GameObject) Instantiate (emptyTile, new Vector2(startx + x * emptyTile.GetComponent<BoxCollider2D>().size.x,
+					starty - y * emptyTile.GetComponent<BoxCollider2D>().size.x), Quaternion.identity)).GetComponent<Tile> ();
+
+				map [x, y].x = x;
+				map [x, y].y = y;
+			}
+		}
+	}
+}

Assets/Scripts/Pathing/MapMaker.cs.meta → Assets/Scripts/MapTool/MapMaker.cs.meta

 fileFormatVersion: 2
-guid: b20dbd9f19ada364ca36dceb48c769a1
-timeCreated: 1477071770
+guid: 01d8f8592a701b6458d43a3ab7d32040
+timeCreated: 1477612509
 licenseType: Free
 MonoImporter:
   serializedVersion: 2

Assets/scene.meta → Assets/Scripts/Pathing.meta

 fileFormatVersion: 2
-guid: 647a00acb440c0c4aa002d9f0ae2ffd5
+guid: 9dbbd5fe69390d5489f18914e7f5f7ad
 folderAsset: yes
-timeCreated: 1475761198
+timeCreated: 1477085342
 licenseType: Free
 DefaultImporter:
   userData: 

Assets/Scripts/Pathing/MapGen.cs → Assets/Scripts/Pathing/AStar.cs

@@ -2,7 +2,7 @@
 using System.Collections;
 using System.Collections.Generic;
 
-public class MapGen : MonoBehaviour {
+public class AStar : MonoBehaviour {
 
 	public int rows = 6;
 	public int cols = 6;
@@ -60,7 +60,7 @@ public class MapGen : MonoBehaviour {
 		if (start == finish) {
 			return;
 		}
-
+			
 		open.Add (start);
 		start.goal = 0;
 		start.fitness = EstimateHeuristic (start, finish);
@@ -76,7 +76,7 @@ public class MapGen : MonoBehaviour {
 					continue;
 				}
 
-				float tempGoal = current.goal + DistBetween(current, neighbors[i]) + 1 / neighbors[i].speedPercent;
+				float tempGoal = current.goal + DistBetween(current, neighbors[i]) + neighbors[i].weight;
 				if (!open.Contains (neighbors[i])) {
 					
 					neighbors [i].prev = current;
@@ -91,7 +91,9 @@ public class MapGen : MonoBehaviour {
 		}
 
 //		PrintPathRetrace (finish);
-		enemy.GetComponent<TraversePath> ().BeginTraversingPath (CreatePath (finish));
+		if (finish.prev != null) {
+			enemy.GetComponent<TraversePath> ().BeginTraversingPath (CreatePath (finish));
+		}
 	}
 
 	float EstimateHeuristic (Tile current, Tile finish) {

Assets/Scripts/Pathing/Heap.cs

@@ -40,6 +40,13 @@ public class Heap {
         return first;
     }
 
+	public void Remove (Tile item){
+
+		heapTiles [item.heapIndex].fitness = float.MinValue;
+		UpdateItem (item);
+		RemoveFirst ();
+	}
+
     //resort item position
     public void UpdateItem(Tile item)
     {
@@ -128,14 +135,4 @@ public class Heap {
         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

 fileFormatVersion: 2
-guid: 243bb794b9f808b409bcd50557270e5b
+guid: 2d7c8f1877f1ef34290c4e5d768fd5e4
 timeCreated: 1477007304
 licenseType: Free
 MonoImporter:

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/ThetaStar.cs

+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+public class ThetaStar : 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.y), 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) {
+
+		start.goal = 0;
+
+		start.fitness = EstimateHeuristic (start, finish);
+		open.Add (start);
+
+		while (open.Count > 0) {
+
+			Tile current = open.RemoveFirst ();
+			if (current == finish) {
+				break;
+			}
+
+			current.closed = true;
+
+			List<Tile> neighbors = current.GetNeighbors ();
+			for (int i = 0; i < neighbors.Count; i++) {
+
+				if (!neighbors[i].closed) {
+					if (!open.Contains(neighbors[i])) {
+
+						neighbors [i].goal = float.MaxValue;
+						neighbors [i].prev = null;
+					}
+
+					UpdateVertices (current, neighbors[i], finish);
+				}
+			}
+		}
+
+		PrintPathRetrace (finish);
+		if (finish.prev != null) {
+			enemy.GetComponent<TraversePath> ().BeginTraversingPath (CreatePath (finish));
+		}
+	}
+
+	void UpdateVertices (Tile current, Tile neighbor, Tile finish) {
+
+		Debug.Log (neighbor.goal);
+
+		if (current.goal + DistBetween(current, neighbor) < neighbor.goal) {
+
+			neighbor.goal = current.goal + DistBetween (current, neighbor);
+			neighbor.prev = current;
+
+			if (open.Contains (neighbor)) {
+				open.Remove (neighbor);
+			}
+
+			neighbor.fitness = neighbor.goal + EstimateHeuristic(neighbor, finish);
+			open.Add (neighbor);
+		}
+
+		Debug.Log (neighbor.goal);
+	}
+
+	void ComputeCosts (Tile current, Tile neighbor) {
+
+		if (current.goal + DistBetween(current, neighbor) + neighbor.weight < neighbor.goal) {
+			neighbor.prev = current;
+			neighbor.goal = current.goal + DistBetween(current, neighbor) + neighbor.weight;
+		}
+	}
+
+	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) {
+
+