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2nd attempt at pathfinding

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This commit is contained in:
in0finite 2022-02-19 22:26:53 +01:00
parent 3ace66420e
commit 4e3fc521fb
2 changed files with 101 additions and 46 deletions
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142
Assets/Scripts/Behaviours/PathfindingManager.cs
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@ -16,6 +16,10 @@ namespace SanAndreasUnity.Behaviours
public List<PathNodeId> Nodes { get; set; }
public float Distance { get; set; }
public float TotalWeight { get; set; }
public float TimeElapsed { get; set; }
}
@ -30,8 +34,19 @@ namespace SanAndreasUnity.Behaviours
int IComparer<PathNodeId>.Compare(PathNodeId a, PathNodeId b)
{
return m_nodePathfindingDatas[a.AreaID][a.NodeID].f.CompareTo(
m_nodePathfindingDatas[b.AreaID][b.NodeID].f);
float fa = m_nodePathfindingDatas[a.AreaID][a.NodeID].f;
float fb = m_nodePathfindingDatas[b.AreaID][b.NodeID].f;
if (fa == fb)
{
// f is equal, compare by id
if (a.AreaID == b.AreaID)
return a.NodeID.CompareTo(b.NodeID);
return a.AreaID.CompareTo(b.AreaID);
}
return fa.CompareTo(fb);
}
}
@ -112,12 +127,26 @@ namespace SanAndreasUnity.Behaviours
this.RestoreModifiedDatas();
if (FindPathFromNodeToNode(closestSourceNode.Id, closestDestinationNode.Id))
{
pathResult = BuildPath(closestDestinationNode.Id);
}
int numModifiedDatas = m_modifiedDatas.Count;
RestoreModifiedDatas();
pathResult.TimeElapsed = (float)stopwatch.Elapsed.TotalSeconds;
UnityEngine.Debug.Log($"Path finding finished: time {pathResult.TimeElapsed}, num nodes {pathResult.Nodes?.Count ?? 0}, numModifiedDatas {numModifiedDatas}, g {pathResult.TotalWeight}, distance {pathResult.Distance}");
return pathResult;
}
private bool FindPathFromNodeToNode(PathNodeId startId, PathNodeId targetId)
{
var closedList = new HashSet<PathNodeId>();
var openList = new SortedSet<PathNodeId>(new NodeComparer(m_nodePathfindingDatas));
PathNodeId startId = closestSourceNode.Id;
PathNodeId targetId = closestDestinationNode.Id;
var startData = GetData(startId);
startData.f = startData.g + CalculateHeuristic(startId, targetId);
SetData(startId, startData);
@ -127,14 +156,15 @@ namespace SanAndreasUnity.Behaviours
while (openList.Count > 0)
{
PathNodeId idN = openList.Min; // TODO: optimize ; call Remove() ;
if (idN.Equals(targetId))
{
pathResult.Nodes = BuildPath(idN);
pathResult.IsSuccess = true;
break;
return true;
}
openList.Remove(idN);
closedList.Add(idN);
var nodeN = NodeReader.GetNodeById(idN);
var areaN = NodeReader.GetAreaById(idN.AreaID);
var dataN = GetData(idN);
@ -144,51 +174,63 @@ namespace SanAndreasUnity.Behaviours
NodeLink link = areaN.NodeLinks[nodeN.BaseLinkID + i];
PathNodeId idM = link.PathNodeId;
var dataM = GetData(idM);
float totalWeight = dataN.g + link.Length;
if (!openList.Contains(idM) && !closedList.Contains(idM))
if (idM.Equals(targetId))
{
var dataM = GetResettedData();
dataM.g = dataN.g + link.Length;
float h = CalculateHeuristic(idM, targetId);
dataM.f = dataM.g + h;
dataM.parentId = idN;
dataM.hasParent = true;
dataM.g = totalWeight;
dataM.f = dataM.g + CalculateHeuristic(idM, targetId);
SetData(idM, dataM);
openList.Add(idM);
return true;
}
if (closedList.Contains(idM))
continue;
if (openList.Contains(idM))
{
float gNew = dataN.g + link.Length;
float hNew = CalculateHeuristic(idM, targetId);
float fNew = gNew + hNew;
var dataM = GetData(idM);
if (dataM.f > fNew)
{
// update
openList.Remove(idM); // first remove with old data
dataM.g = gNew;
dataM.f = fNew;
dataM.parentId = idN;
dataM.hasParent = true;
SetData(idM, dataM);
openList.Add(idM); // now add with new data
}
}
else
{
if (totalWeight < dataM.g)
{
dataM.parentId = idN;
dataM.hasParent = true;
dataM.g = totalWeight;
dataM.f = dataM.g + CalculateHeuristic(idM, targetId);
SetData(idM, dataM);
if (closedList.Contains(idM))
{
closedList.Remove(idM);
openList.Add(idM);
}
}
var dataM = GetResettedData();
dataM.g = dataN.g + link.Length;
float h = CalculateHeuristic(idM, targetId);
dataM.f = dataM.g + h;
dataM.parentId = idN;
dataM.hasParent = true;
SetData(idM, dataM);
openList.Add(idM); // do it after setting data
}
}
openList.Remove(idN);
closedList.Add(idN);
}
}
int numModifiedDatas = m_modifiedDatas.Count;
RestoreModifiedDatas();
pathResult.TimeElapsed = (float)stopwatch.Elapsed.TotalSeconds;
UnityEngine.Debug.Log($"Path finding finished: time {pathResult.TimeElapsed}, num nodes {pathResult.Nodes?.Count ?? 0}, numModifiedDatas {numModifiedDatas}");
return pathResult;
return false;
}
private NodePathfindingData GetData(PathNodeId id)
@ -209,9 +251,7 @@ namespace SanAndreasUnity.Behaviours
private float CalculateHeuristic(PathNodeId source, PathNodeId destination)
{
return Vector3.Distance(
NodeReader.GetNodeById(source).Position,
NodeReader.GetNodeById(destination).Position);
return NodeReader.GetDistanceBetweenNodes(source, destination);
}
private void RestoreModifiedDatas()
@ -232,17 +272,21 @@ namespace SanAndreasUnity.Behaviours
return data;
}
private List<PathNodeId> BuildPath(PathNodeId root)
private PathResult BuildPath(PathNodeId root)
{
var list = new List<PathNodeId>();
PathNodeId n = root;
var data = GetData(n);
float totalWeight = data.g;
float distance = 0f;
while (data.hasParent)
{
list.Add(n);
distance += NodeReader.GetDistanceBetweenNodes(n, data.parentId);
n = data.parentId;
data = GetData(n);
}
@ -251,7 +295,13 @@ namespace SanAndreasUnity.Behaviours
list.Reverse();
return list;
return new PathResult
{
IsSuccess = true,
Nodes = list,
TotalWeight = totalWeight,
Distance = distance,
};
}
}
}

5
Assets/Scripts/Importing/Paths/NodeFile.cs
View file

@ -248,6 +248,11 @@ namespace SanAndreasUnity.Importing.Paths
yield return targetNode;
}
}
public static float GetDistanceBetweenNodes(PathNodeId a, PathNodeId b)
{
return UnityEngine.Vector3.Distance(GetNodeById(a).Position, GetNodeById(b).Position);
}
}
public class NodeFile