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Assets/Resources/Prefabs.meta → Assets/Scenes.meta

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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/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

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Assets/Scripts/Pathing.meta

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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;
@@ -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;
@@ -91,8 +91,10 @@ public class MapGen : MonoBehaviour {
 		}
 
 //		PrintPathRetrace (finish);
+		if (finish.prev != null) {
 			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);

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)
     {
@@ -129,13 +136,3 @@ public class Heap {
         item2.heapIndex = tempIndex;
     }
 }
\ No newline at end of file
-
-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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 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) {
+
+		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;
+	}