bate's blog

調べたこと実装したことなどを取りとめもなく書きます。

経路探索部分をクラス化

List<GameObject> list = m_PathFinding.GetPath(m_Start, m_Goal);
foreach(GameObject obj in list) {
	GridNode node = obj.GetComponent<GridNode>();
	if(node.State == GridNode.eState.OnPath) {
		m_InfoList[node.NodeInfo.index].renderer.material.color = Color.black;
	}
}
using UnityEngine;
using System.Collections;
using System.Collections.Generic;

public class PathFinding  {
	
	const int COST_MAX = int.MaxValue;
	
	GameObject m_Start;
	GameObject m_Goal;
	
	List<GameObject> m_RefGridNodeList;
	public List<GameObject> RefGridNodeList {
		get { return m_RefGridNodeList; }
		set { m_RefGridNodeList = value; }
	}
	
	List<GameObject> m_OpenList;
	List<GameObject> m_CloseList;
	
	public PathFinding() {
		m_Start = null;
		m_Goal = null;
		m_RefGridNodeList = null;
		m_OpenList = new List<GameObject>();
		m_CloseList = new List<GameObject>();
	}
	
	public List<GameObject> GetPath(GameObject start, GameObject goal) {
		if(m_RefGridNodeList == null) {
			return null;
		}
		m_Start = start;
		m_Goal = goal;
		if(!Search()) {
			return null;
		}
		
		return CreatePathList();
	}
	
	bool Search() {
		if(m_Start == null || m_Goal == null) {
			return false;
		}
		m_OpenList.Clear();
		m_CloseList.Clear();
		m_OpenList.Add(m_Start);
		m_Start.GetComponent<GridNode>().G = 0;
		m_Start.GetComponent<GridNode>().F = Heuristic(m_Start);
		
		while(true) {
			if(m_OpenList.Count == 0) {
				break;
			}
			
			int minCost = COST_MAX;
			GameObject minObj = null;
			foreach(GameObject obj in m_OpenList) {
				GridNode search = obj.GetComponent<GridNode>();
				if(search.Done) {
					continue;
				}
				if(search.F < minCost) {
					minCost = (int)search.F;
					minObj = obj;
				}
			}
			
			if( minObj == null) {
				return false;
			}
			minObj.GetComponent<GridNode>().Done = true;
			if( minObj.GetComponent<GridNode>().State == GridNode.eState.Goal) {
				break;
			}
			else {
				m_CloseList.Add(minObj);
				m_OpenList.Remove(minObj);
			}
			
			UpdateScore(minObj);
		}
		
		return true;
	}
	
	int Heuristic(GameObject obj) {
		GridNode goal = m_Goal.GetComponent<GridNode>();
		GridNode node = obj.GetComponent<GridNode>();
		
		return (int)Vector3.Distance(node.NodeInfo.center, goal.NodeInfo.center);
	}
	
	void UpdateScore(GameObject obj) {
		GridNode node = obj.GetComponent<GridNode>();
		foreach(int i in node.NodeInfo.nearIndexList) {
			GameObject co = m_RefGridNodeList[i];
			Debug.Log(co);
			CalculateScore(obj, co);
		}
	}
	
	void CalculateScore(GameObject obj, GameObject near) {
		GridNode base_node = obj.GetComponent<GridNode>();
		GridNode near_node = near.GetComponent<GridNode>();
		if(near_node.Done || near_node.Attribute == GridNode.eAttribute.Wall) {
			return;
		}
		
		float nearF = base_node.G + 1 + Heuristic(near);;
		bool isExistOpen = m_OpenList.Contains(near);
		bool isExistClose = m_CloseList.Contains(near);
		if(isExistOpen) {
			if(nearF < near_node.F) {
				near_node.F = nearF;
				near_node.Parent = obj.GetComponent<GridNode>();
			}
		}
		else if(isExistClose) {
			if(nearF < near_node.F) {
				near_node.F = nearF;
				near_node.Parent = obj.GetComponent<GridNode>();
				m_OpenList.Add(near);
				m_CloseList.Remove(obj);
			}
		}
		else {
			near_node.F = nearF;
			near_node.Parent = obj.GetComponent<GridNode>();
			m_OpenList.Add(near);
			m_CloseList.Remove(obj);
		}
	}
	
	List<GameObject> CreatePathList() {
		List<GameObject> list = new List<GameObject>();
		GridNode node = m_Goal.GetComponent<GridNode>();
		list.Add(node.gameObject);
		node = node.Parent;
		while(node && node.State != GridNode.eState.Start) {
			list.Add(node.gameObject);
			node.State = GridNode.eState.OnPath;
			node = node.Parent;
		}
		// start
		list.Add(node.gameObject);
		return list;
	}
}
広告を非表示にする