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pathfinding class now interprets grid properly

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can successfully read in the user-generated world!
This commit is contained in:
Simon O'Shea
2023-08-08 17:17:45 -04:00
parent 2dcb6ea96d
commit ddc02784c2
3 changed files with 48 additions and 67 deletions
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Pathfinding Visualizer/Assets/Scripts/PathNode.cs
+33 -44
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@@ -11,8 +11,8 @@ using UnityEngine;
public static int col = 1;
Node parent;
int[] agent;
List<int[]> samples;
Vector2Int agent;
List<Vector2Int> samples;
char lastMove; // for output/animation
int distanceTraveled; // for calculating f(n) value
double heuristic;
@@ -20,11 +20,11 @@ using UnityEngine;
bool canSample; // for expansion
// construct node :)
public Node(Node parent, int[] agent, List<int[]> samples, char lastMove, int distanceTraveled, double heuristic)
public Node(Node parent, Vector2Int agent, List<Vector2Int> samples, char lastMove, int distanceTraveled, double heuristic)
{
this.parent = parent;
this.agent = agent;
this.samples = new List<int[]>(samples);
this.samples = samples;
this.lastMove = lastMove;
this.distanceTraveled = distanceTraveled;
this.heuristic = heuristic;
@@ -40,7 +40,7 @@ using UnityEngine;
// document expansion of node and get ready to collect this node's children
// SampleWorld.expansions++;
int[] onSample = new int[2];
Vector2Int onSample = new Vector2Int();
// since this state is being currently visited (expanded), put in closed list
Pathfinder.closed.Add(this.getState());
@@ -50,10 +50,10 @@ using UnityEngine;
////////////////////////////////////
// store coordinates for all potential moves to be checked
int[] up = { this.agent[row] - 1, this.agent[col] };
int[] down = { this.agent[row] + 1, this.agent[col] };
int[] left = { this.agent[row], this.agent[col] - 1 };
int[] right = { this.agent[row], this.agent[col] + 1 };
Vector2Int up = new Vector2Int( this.agent.y - 1, this.agent.x );
Vector2Int down = new Vector2Int( this.agent.y + 1, this.agent.x );
Vector2Int left = new Vector2Int( this.agent.y, this.agent.x - 1 );
Vector2Int right = new Vector2Int( this.agent.y, this.agent.x + 1 );
// make sure going up doesn't go outside world-bounds or into obstacle
if (isOpen(up))
@@ -97,12 +97,12 @@ using UnityEngine;
// CHECK IF CAN SAMPLE
onSample = CanSample();
if (onSample[0] == 1)
if (onSample.x == 1)
{
Node child = new Node(this, this.agent, this.samples, 'S', this.distanceTraveled + 1, this.heuristic);
// PROBLEM?
child.samples.RemoveAt(onSample[1]);
child.samples.RemoveAt(onSample.y);
//SampleWorld.nodesGenerated++;
children.Add(child);
@@ -112,33 +112,29 @@ using UnityEngine;
}
// helper for expand, verifies whether potential move is legal
public bool isOpen(int[] position)
public bool isOpen(Vector2Int position)
{
// check that agent is not trying to move into an obstacle
for (int i = 0; i < Pathfinder.obstacles.Count(); i++)
{
int[] coord = new int[2];
coord[0] = Pathfinder.obstacles[i][0][0];
coord[1] = Pathfinder.obstacles[i][1][0];
if (Pathfinder.obstacles[i][0][0] == position[0] && Pathfinder.obstacles[i][1][0] == position[1])
if (Pathfinder.obstacles[i].x == position.x && Pathfinder.obstacles[i].y == position.y)
return false;
}
// check that agent is not stepping out of the world
if (!((position[row] >= 0) && (position[row] <= Pathfinder.height - 1) && (position[col] >= 0) && (position[col] <= Pathfinder.width - 1)))
if (!((position.y >= 0) && (position.y <= Pathfinder.height - 1) && (position.x >= 0) && (position.x <= Pathfinder.width - 1)))
return false;
return true;
}
// returns the coordinates of the sample closest to the agent's current location
public int[] nearestSample()
public Vector2Int nearestSample()
{
if (samples.Count == 0)
return agent;
// PROBLEM?
int[] s = samples[0];
Vector2Int s = samples[0];
double lowest = distance(agent, samples[0]);
double dist;
@@ -154,10 +150,10 @@ using UnityEngine;
return s;
}
// helper function for nearestSample()
public static double distance(int[] a, int[] b)
public static double distance(Vector2Int a, Vector2Int b)
{ // _________________________
// distance between 2D points = √(y2 - y1)^2 + (x2 - x1)^2
double total = (((b[row] - a[row]) * (b[row] - a[row])) + ((b[col] - a[col]) * (b[col] - a[col])));
double total = (((b.y - a.y) * (b.y - a.y)) + ((b.x - a.x) * (b.x - a.x)));
total = Math.Sqrt(total);
return total;
@@ -168,17 +164,16 @@ using UnityEngine;
// returns two pieces of information if true:
// [0] is 1 to indicate agent can sample
// [1] is the index of the valid sample in the list
public int[] CanSample()
public Vector2Int CanSample()
{
// default to false
int[] result = new int[2];
result[0] = 0;
result[1] = -1;
Vector2Int result = new Vector2Int();
result.x = 0;
result.y = -1;
for (int i = 0; i < this.samples.Count; i++)
{
// PROBLEM?
if ((this.agent[row] == samples[i][row]) && (this.agent[col] == samples[i][col]))
if ((this.agent.y == samples[i].y) && (this.agent.x == samples[i].x))
{
result[0] = 1;
result[1] = i;
@@ -221,21 +216,19 @@ using UnityEngine;
// helper class for Node
public class State
{
int[] agent;
int[][] samples;
Vector2Int agent;
List<Vector2Int> samples;
public State(int[] agent, List<int[]> samples)
public State(Vector2Int agent, List<Vector2Int> samples)
{
// PROBLEM?
this.agent = agent;
this.samples = new int[samples.Count][];
this.samples = samples;
// convert List<int[]> into 2D array of ints [][]
for (int i = 0; i < samples.Count; i++)
/*for (int i = 0; i < samples.Count; i++)
{
// PROBLEM??
this.samples[i] = samples[i];
}
}*/
}
public bool inClosed()
@@ -252,21 +245,17 @@ using UnityEngine;
public bool equals(State other)
{
if (this.samples.Length != other.samples.Length)
if (this.samples.Count != other.samples.Count)
return false;
// PROBLEM?
if (!this.agent[0].Equals(other.agent[0]) && !this.agent[1].Equals(other.agent[1]))
if (!(this.agent.x.Equals(other.agent.x) && this.agent.y.Equals(other.agent.y)))
return false;
for (int i = 0; i < this.samples.Length; i++)
for (int i = 0; i < this.samples.Count; i++)
{
//if (Arrays.compare(this.samples[i], other.samples[i]) != 0)
// PROBLEM?
if (!(this.samples.Rank == other.samples.Rank) &&
!(Enumerable.Range(0, this.samples.Rank).All(dimension => this.samples.GetLength(dimension) == other.samples.GetLength(dimension))) &&
!(this.samples.Cast<double>().SequenceEqual(other.samples.Cast<double>())))
if (this.samples.SequenceEqual(other.samples))
return false;
}