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Adding A* Algorythm and carpet roads

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Nicolas SANS
2023-04-24 15:49:03 +02:00
parent 75018ee6cd
commit 690e3fbd0b
685 changed files with 134125 additions and 19 deletions
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AR/Assets/AstarPathfindingProject/ExampleScenes/Example12_Procedural/ProceduralWorld.cs Normal file
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using UnityEngine;
using System.Collections;
using System.Collections.Generic;
namespace Pathfinding.Examples {
/// <summary>Example script for generating an infinite procedural world</summary>
[HelpURL("http://arongranberg.com/astar/docs/class_pathfinding_1_1_examples_1_1_procedural_world.php")]
public class ProceduralWorld : MonoBehaviour {
public Transform target;
public ProceduralPrefab[] prefabs;
/// <summary>How far away to generate tiles</summary>
public int range = 1;
public int disableAsyncLoadWithinRange = 1;
/// <summary>World size of tiles</summary>
public float tileSize = 100;
public int subTiles = 20;
/// <summary>
/// Enable static batching on generated tiles.
/// Will improve overall FPS, but might cause FPS drops on
/// some frames when static batching is done
/// </summary>
public bool staticBatching = false;
Queue<IEnumerator> tileGenerationQueue = new Queue<IEnumerator>();
public enum RotationRandomness {
AllAxes,
Y
}
[System.Serializable]
public class ProceduralPrefab {
/// <summary>Prefab to use</summary>
public GameObject prefab;
/// <summary>Number of objects per square world unit</summary>
public float density = 0;
/// <summary>
/// Multiply by [perlin noise].
/// Value from 0 to 1 indicating weight.
/// </summary>
public float perlin = 0;
/// <summary>
/// Perlin will be raised to this power.
/// A higher value gives more distinct edges
/// </summary>
public float perlinPower = 1;
/// <summary>Some offset to avoid identical density maps</summary>
public Vector2 perlinOffset = Vector2.zero;
/// <summary>
/// Perlin noise scale.
/// A higher value spreads out the maximums and minimums of the density.
/// </summary>
public float perlinScale = 1;
/// <summary>
/// Multiply by [random].
/// Value from 0 to 1 indicating weight.
/// </summary>
public float random = 1;
public RotationRandomness randomRotation = RotationRandomness.AllAxes;
/// <summary>If checked, a single object will be created in the center of each tile</summary>
public bool singleFixed = false;
}
/// <summary>All tiles</summary>
Dictionary<Int2, ProceduralTile> tiles = new Dictionary<Int2, ProceduralTile>();
// Use this for initialization
void Start () {
// Calculate the closest tiles
// and then recalculate the graph
Update();
AstarPath.active.Scan();
StartCoroutine(GenerateTiles());
}
// Update is called once per frame
void Update () {
// Calculate the tile the target is standing on
Int2 p = new Int2(Mathf.RoundToInt((target.position.x - tileSize*0.5f) / tileSize), Mathf.RoundToInt((target.position.z - tileSize*0.5f) / tileSize));
// Clamp range
range = range < 1 ? 1 : range;
// Remove tiles which are out of range
bool changed = true;
while (changed) {
changed = false;
foreach (KeyValuePair<Int2, ProceduralTile> pair in tiles) {
if (Mathf.Abs(pair.Key.x-p.x) > range || Mathf.Abs(pair.Key.y-p.y) > range) {
pair.Value.Destroy();
tiles.Remove(pair.Key);
changed = true;
break;
}
}
}
// Add tiles which have come in range
// and start calculating them
for (int x = p.x-range; x <= p.x+range; x++) {
for (int z = p.y-range; z <= p.y+range; z++) {
if (!tiles.ContainsKey(new Int2(x, z))) {
ProceduralTile tile = new ProceduralTile(this, x, z);
var generator = tile.Generate();
// Tick it one step forward
generator.MoveNext();
// Calculate the rest later
tileGenerationQueue.Enqueue(generator);
tiles.Add(new Int2(x, z), tile);
}
}
}
// The ones directly adjacent to the current one
// should always be completely calculated
// make sure they are
for (int x = p.x-disableAsyncLoadWithinRange; x <= p.x+disableAsyncLoadWithinRange; x++) {
for (int z = p.y-disableAsyncLoadWithinRange; z <= p.y+disableAsyncLoadWithinRange; z++) {
tiles[new Int2(x, z)].ForceFinish();
}
}
}
IEnumerator GenerateTiles () {
while (true) {
if (tileGenerationQueue.Count > 0) {
var generator = tileGenerationQueue.Dequeue();
yield return StartCoroutine(generator);
}
yield return null;
}
}
class ProceduralTile {
int x, z;
System.Random rnd;
ProceduralWorld world;
public bool destroyed { get; private set; }
public ProceduralTile (ProceduralWorld world, int x, int z) {
this.x = x;
this.z = z;
this.world = world;
rnd = new System.Random((x * 10007) ^ (z*36007));
}
Transform root;
IEnumerator ie;
public IEnumerator Generate () {
ie = InternalGenerate();
GameObject rt = new GameObject("Tile " + x + " " + z);
root = rt.transform;
while (ie != null && root != null && ie.MoveNext()) yield return ie.Current;
ie = null;
}
public void ForceFinish () {
while (ie != null && root != null && ie.MoveNext()) {}
ie = null;
}
Vector3 RandomInside () {
Vector3 v = new Vector3();
v.x = (x + (float)rnd.NextDouble())*world.tileSize;
v.z = (z + (float)rnd.NextDouble())*world.tileSize;
return v;
}
Vector3 RandomInside (float px, float pz) {
Vector3 v = new Vector3();
v.x = (px + (float)rnd.NextDouble()/world.subTiles)*world.tileSize;
v.z = (pz + (float)rnd.NextDouble()/world.subTiles)*world.tileSize;
return v;
}
Quaternion RandomYRot (ProceduralPrefab prefab) {
return prefab.randomRotation == RotationRandomness.AllAxes ? Quaternion.Euler(360*(float)rnd.NextDouble(), 360*(float)rnd.NextDouble(), 360*(float)rnd.NextDouble()) : Quaternion.Euler(0, 360 * (float)rnd.NextDouble(), 0);
}
IEnumerator InternalGenerate () {
Debug.Log("Generating tile " + x + ", " + z);
int counter = 0;
float[, ] ditherMap = new float[world.subTiles+2, world.subTiles+2];
//List<GameObject> objs = new List<GameObject>();
for (int i = 0; i < world.prefabs.Length; i++) {
ProceduralPrefab pref = world.prefabs[i];
if (pref.singleFixed) {
Vector3 p = new Vector3((x+0.5f) * world.tileSize, 0, (z+0.5f) * world.tileSize);
GameObject ob = GameObject.Instantiate(pref.prefab, p, Quaternion.identity) as GameObject;
ob.transform.parent = root;
} else {
float subSize = world.tileSize/world.subTiles;
for (int sx = 0; sx < world.subTiles; sx++) {
for (int sz = 0; sz < world.subTiles; sz++) {
ditherMap[sx+1, sz+1] = 0;
}
}
for (int sx = 0; sx < world.subTiles; sx++) {
for (int sz = 0; sz < world.subTiles; sz++) {
float px = x + sx/(float)world.subTiles;//sx / world.tileSize;
float pz = z + sz/(float)world.subTiles;//sz / world.tileSize;
float perl = Mathf.Pow(Mathf.PerlinNoise((px + pref.perlinOffset.x)*pref.perlinScale, (pz + pref.perlinOffset.y)*pref.perlinScale), pref.perlinPower);
float density = pref.density * Mathf.Lerp(1, perl, pref.perlin) * Mathf.Lerp(1, (float)rnd.NextDouble(), pref.random);
float fcount = subSize*subSize*density + ditherMap[sx+1, sz+1];
int count = Mathf.RoundToInt(fcount);
// Apply dithering
// See http://en.wikipedia.org/wiki/Floyd%E2%80%93Steinberg_dithering
ditherMap[sx+1+1, sz+1+0] += (7f/16f) * (fcount - count);
ditherMap[sx+1-1, sz+1+1] += (3f/16f) * (fcount - count);
ditherMap[sx+1+0, sz+1+1] += (5f/16f) * (fcount - count);
ditherMap[sx+1+1, sz+1+1] += (1f/16f) * (fcount - count);
// Create a number of objects
for (int j = 0; j < count; j++) {
// Find a random position inside the current sub-tile
Vector3 p = RandomInside(px, pz);
GameObject ob = GameObject.Instantiate(pref.prefab, p, RandomYRot(pref)) as GameObject;
ob.transform.parent = root;
//ob.SetActive ( false );
//objs.Add ( ob );
counter++;
if (counter % 2 == 0)
yield return null;
}
}
}
}
}
ditherMap = null;
yield return null;
yield return null;
//Batch everything for improved performance
if (Application.HasProLicense() && world.staticBatching) {
StaticBatchingUtility.Combine(root.gameObject);
}
}
public void Destroy () {
if (root != null) {
Debug.Log("Destroying tile " + x + ", " + z);
GameObject.Destroy(root.gameObject);
root = null;
}
// Make sure the tile generator coroutine is destroyed
ie = null;
}
}
}
}

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AR/Assets/AstarPathfindingProject/ExampleScenes/ExampleScripts/AstarSmoothFollow2.cs Normal file
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using UnityEngine;
namespace Pathfinding.Examples {
/// <summary>
/// Smooth Camera Following.
/// \author http://wiki.unity3d.com/index.php/SmoothFollow2
/// </summary>
[HelpURL("http://arongranberg.com/astar/docs/class_pathfinding_1_1_examples_1_1_astar_smooth_follow2.php")]
public class AstarSmoothFollow2 : MonoBehaviour {
public Transform target;
public float distance = 3.0f;
public float height = 3.0f;
public float damping = 5.0f;
public bool smoothRotation = true;
public bool followBehind = true;
public float rotationDamping = 10.0f;
public bool staticOffset = false;
void LateUpdate () {
Vector3 wantedPosition;
if (staticOffset) {
wantedPosition = target.position + new Vector3(0, height, distance);
} else {
if (followBehind)
wantedPosition = target.TransformPoint(0, height, -distance);
else
wantedPosition = target.TransformPoint(0, height, distance);
}
transform.position = Vector3.Lerp(transform.position, wantedPosition, Time.deltaTime * damping);
if (smoothRotation) {
Quaternion wantedRotation = Quaternion.LookRotation(target.position - transform.position, target.up);
transform.rotation = Quaternion.Slerp(transform.rotation, wantedRotation, Time.deltaTime * rotationDamping);
} else transform.LookAt(target, target.up);
}
}
}

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AR/Assets/AstarPathfindingProject/ExampleScenes/ExampleScripts/DoorController.cs Normal file
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using UnityEngine;
namespace Pathfinding.Examples {
/// <summary>Example script used in the example scenes</summary>
[HelpURL("http://arongranberg.com/astar/docs/class_pathfinding_1_1_examples_1_1_door_controller.php")]
public class DoorController : MonoBehaviour {
private bool open = false;
public int opentag = 1;
public int closedtag = 1;
public bool updateGraphsWithGUO = true;
public float yOffset = 5;
Bounds bounds;
public void Start () {
// Capture the bounds of the collider while it is closed
bounds = GetComponent<Collider>().bounds;
// Initially open the door
SetState(open);
}
void OnGUI () {
// Show a UI button for opening and closing the door
if (GUI.Button(new Rect(5, yOffset, 100, 22), "Toggle Door")) {
SetState(!open);
}
}
public void SetState (bool open) {
this.open = open;
if (updateGraphsWithGUO) {
// Update the graph below the door
// Set the tag of the nodes below the door
// To something indicating that the door is open or closed
GraphUpdateObject guo = new GraphUpdateObject(bounds);
int tag = open ? opentag : closedtag;
// There are only 32 tags
if (tag > 31) { Debug.LogError("tag > 31"); return; }
guo.modifyTag = true;
guo.setTag = tag;
guo.updatePhysics = false;
AstarPath.active.UpdateGraphs(guo);
}
// Play door animations
if (open) {
GetComponent<Animation>().Play("Open");
} else {
GetComponent<Animation>().Play("Close");
}
}
}
}

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AR/Assets/AstarPathfindingProject/ExampleScenes/ExampleScripts/MineBotAI.cs Normal file
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using UnityEngine;
namespace Pathfinding.Examples {
/// <summary>
/// AI controller specifically made for the spider robot.
/// Deprecated: This script has been replaced by Pathfinding.Examples.MineBotAnimation. Any uses of this script in the Unity editor will be automatically replaced by one AIPath component and one MineBotAnimation component.
/// </summary>
[RequireComponent(typeof(Seeker))]
[System.Obsolete("This script has been replaced by Pathfinding.Examples.MineBotAnimation. Any uses of this script in the Unity editor will be automatically replaced by one AIPath component and one MineBotAnimation component.")]
[HelpURL("http://arongranberg.com/astar/docs/class_pathfinding_1_1_examples_1_1_mine_bot_a_i.php")]
public class MineBotAI : AIPath {
/// <summary>
/// Animation component.
/// Should hold animations "awake" and "forward"
/// </summary>
public Animation anim;
/// <summary>Minimum velocity for moving</summary>
public float sleepVelocity = 0.4F;
/// <summary>Speed relative to velocity with which to play animations</summary>
public float animationSpeed = 0.2F;
/// <summary>
/// Effect which will be instantiated when end of path is reached.
/// See: OnTargetReached
/// </summary>
public GameObject endOfPathEffect;
#if UNITY_EDITOR
protected override int OnUpgradeSerializedData (int version, bool unityThread) {
if (unityThread) {
var components = gameObject.GetComponents<Component>();
int index = System.Array.IndexOf(components, this);
foreach (System.Type newType in new [] { typeof(AIPath), typeof(MineBotAnimation) }) {
var newComp = gameObject.AddComponent(newType);
foreach (var field in newComp.GetType().GetFields(System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.Public)) {
var oldField = this.GetType().GetField(field.Name);
try {
if (oldField != null) field.SetValue(newComp, oldField.GetValue(this));
} catch (System.Exception e) {
Debug.LogError("Failed to upgrade some fields.\n" + e);
}
}
for (int i = components.Length - 1; i > index; i--) UnityEditorInternal.ComponentUtility.MoveComponentUp(newComp);
}
GameObject.DestroyImmediate(this);
return 0;
} else {
return base.OnUpgradeSerializedData(version, unityThread);
}
}
#endif
}
}

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AR/Assets/AstarPathfindingProject/ExampleScenes/ExampleScripts/MineBotAnimation.cs Normal file
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using UnityEngine;
namespace Pathfinding.Examples {
/// <summary>
/// Animation helper specifically made for the spider robot in the example scenes.
/// The spider robot (or mine-bot) which has been copied from the Unity Example Project
/// can have this script attached to be able to pathfind around with animations working properly.\n
/// This script should be attached to a parent GameObject however since the original bot has Z+ as up.
/// This component requires Z+ to be forward and Y+ to be up.\n
///
/// A movement script (e.g AIPath) must also be attached to the same GameObject to actually move the unit.
///
/// Animation is handled by this component. The Animator component refered to in <see cref="anim"/> should have a single parameter called NormalizedSpeed.
/// When the end of path is reached, if the <see cref="endOfPathEffect"/> is not null, it will be instantiated at the current position. However a check will be
/// done so that it won't spawn effects too close to the previous spawn-point.
/// [Open online documentation to see images]
/// </summary>
[HelpURL("http://arongranberg.com/astar/docs/class_pathfinding_1_1_examples_1_1_mine_bot_animation.php")]
public class MineBotAnimation : VersionedMonoBehaviour {
/// <summary>
/// Animation component.
/// Should hold animations "awake" and "forward"
/// </summary>
public Animator anim;
/// <summary>
/// Effect which will be instantiated when end of path is reached.
/// See: <see cref="OnTargetReached"/>
/// </summary>
public GameObject endOfPathEffect;
bool isAtDestination;
IAstarAI ai;
Transform tr;
protected override void Awake () {
base.Awake();
ai = GetComponent<IAstarAI>();
tr = GetComponent<Transform>();
}
/// <summary>Point for the last spawn of <see cref="endOfPathEffect"/></summary>
protected Vector3 lastTarget;
/// <summary>
/// Called when the end of path has been reached.
/// An effect (<see cref="endOfPathEffect)"/> is spawned when this function is called
/// However, since paths are recalculated quite often, we only spawn the effect
/// when the current position is some distance away from the previous spawn-point
/// </summary>
void OnTargetReached () {
if (endOfPathEffect != null && Vector3.Distance(tr.position, lastTarget) > 1) {
GameObject.Instantiate(endOfPathEffect, tr.position, tr.rotation);
lastTarget = tr.position;
}
}
protected void Update () {
if (ai.reachedEndOfPath) {
if (!isAtDestination) OnTargetReached();
isAtDestination = true;
} else isAtDestination = false;
// Calculate the velocity relative to this transform's orientation
Vector3 relVelocity = tr.InverseTransformDirection(ai.velocity);
relVelocity.y = 0;
// Speed relative to the character size
anim.SetFloat("NormalizedSpeed", relVelocity.magnitude / anim.transform.lossyScale.x);
}
}
}

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78
AR/Assets/AstarPathfindingProject/ExampleScenes/ExampleScripts/ObjectPlacer.cs Normal file
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using UnityEngine;
using System.Collections;
namespace Pathfinding.Examples {
/// <summary>Small sample script for placing obstacles</summary>
[HelpURL("http://arongranberg.com/astar/docs/class_pathfinding_1_1_examples_1_1_object_placer.php")]
public class ObjectPlacer : MonoBehaviour {
/// <summary>
/// GameObject to place.
/// When using a Grid Graph you need to make sure the object's layer is included in the collision mask in the GridGraph settings.
/// </summary>
public GameObject go;
/// <summary>Flush Graph Updates directly after placing. Slower, but updates are applied immidiately</summary>
public bool direct = false;
/// <summary>Issue a graph update object after placement</summary>
public bool issueGUOs = true;
/// <summary>Update is called once per frame</summary>
void Update () {
if (Input.GetKeyDown("p")) {
PlaceObject();
}
if (Input.GetKeyDown("r")) {
StartCoroutine(RemoveObject());
}
}
public void PlaceObject () {
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
// Figure out where the ground is
if (Physics.Raycast(ray, out hit, Mathf.Infinity)) {
Vector3 p = hit.point;
GameObject obj = GameObject.Instantiate(go, p, Quaternion.identity) as GameObject;
if (issueGUOs) {
Bounds b = obj.GetComponent<Collider>().bounds;
GraphUpdateObject guo = new GraphUpdateObject(b);
AstarPath.active.UpdateGraphs(guo);
if (direct) {
AstarPath.active.FlushGraphUpdates();
}
}
}
}
public IEnumerator RemoveObject () {
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
// Check what object is under the mouse cursor
if (Physics.Raycast(ray, out hit, Mathf.Infinity)) {
// Ignore ground and triggers
if (hit.collider.isTrigger || hit.transform.gameObject.name == "Ground") yield break;
Bounds b = hit.collider.bounds;
Destroy(hit.collider);
Destroy(hit.collider.gameObject);
if (issueGUOs) {
// In Unity, object destruction is actually delayed until the end of the Update loop.
// This means that we need to wait until the end of the frame (or until the next frame) before
// we update the graph. Otherwise the graph would still think that the objects are there.
yield return new WaitForEndOfFrame();
GraphUpdateObject guo = new GraphUpdateObject(b);
AstarPath.active.UpdateGraphs(guo);
if (direct) {
AstarPath.active.FlushGraphUpdates();
}
}
}
}
}
}

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AR/Assets/AstarPathfindingProject/ExampleScenes/ExampleScripts/SnapToNode.cs Normal file
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using UnityEngine;
using System.Collections;
using Pathfinding;
/// <summary>
/// Helper editor script to snap an object to the closest node.
/// Used in the "Turn Based" example scene for snapping obstacles to the hexagon grid.
/// </summary>
[ExecuteInEditMode]
[HelpURL("http://arongranberg.com/astar/docs/class_snap_to_node.php")]
public class SnapToNode : MonoBehaviour {
void Update () {
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AR/Assets/AstarPathfindingProject/ExampleScenes/ExampleScripts/TargetMover.cs Normal file
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using UnityEngine;
using System.Linq;
namespace Pathfinding {
/// <summary>
/// Moves the target in example scenes.
/// This is a simple script which has the sole purpose
/// of moving the target point of agents in the example
/// scenes for the A* Pathfinding Project.
///
/// It is not meant to be pretty, but it does the job.
/// </summary>
[HelpURL("http://arongranberg.com/astar/docs/class_pathfinding_1_1_target_mover.php")]
public class TargetMover : MonoBehaviour {
/// <summary>Mask for the raycast placement</summary>
public LayerMask mask;
public Transform target;
IAstarAI[] ais;
/// <summary>Determines if the target position should be updated every frame or only on double-click</summary>
public bool onlyOnDoubleClick;
public bool use2D;
Camera cam;
public void Start () {
//Cache the Main Camera
cam = Camera.main;
// Slightly inefficient way of finding all AIs, but this is just an example script, so it doesn't matter much.
// FindObjectsOfType does not support interfaces unfortunately.
ais = FindObjectsOfType<MonoBehaviour>().OfType<IAstarAI>().ToArray();
useGUILayout = false;
}
public void OnGUI () {
if (onlyOnDoubleClick && cam != null && Event.current.type == EventType.MouseDown && Event.current.clickCount == 2) {
UpdateTargetPosition();
}
}
/// <summary>Update is called once per frame</summary>
void Update () {
if (!onlyOnDoubleClick && cam != null) {
UpdateTargetPosition();
}
}
public void UpdateTargetPosition () {
Vector3 newPosition = Vector3.zero;
bool positionFound = false;
if (use2D) {
newPosition = cam.ScreenToWorldPoint(Input.mousePosition);
newPosition.z = 0;
positionFound = true;
} else {
// Fire a ray through the scene at the mouse position and place the target where it hits
RaycastHit hit;
if (Physics.Raycast(cam.ScreenPointToRay(Input.mousePosition), out hit, Mathf.Infinity, mask)) {
newPosition = hit.point;
positionFound = true;
}
}
if (positionFound && newPosition != target.position) {
target.position = newPosition;
if (onlyOnDoubleClick) {
for (int i = 0; i < ais.Length; i++) {
if (ais[i] != null) ais[i].SearchPath();
}
}
}
}
}
}

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Shader "Projector/Light" {
Properties {
_Color ("Main Color", Color) = (1,1,1,1)
_ShadowTex ("Cookie", 2D) = "" { TexGen ObjectLinear }
_FalloffTex ("FallOff", 2D) = "" { TexGen ObjectLinear }
}
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Color [_Color]
ColorMask RGB
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Matrix [_Projector]
}
SetTexture [_FalloffTex] {
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