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[Pathfinding] Added walls like a mesh to avoid when follow the path
TODO: Add a 'character' to walk to the destination node
1 parent cbba8cd commit 331f651

14 files changed

Lines changed: 364 additions & 25 deletions

‎Assets/Materials/Black.Red.Yellow.Green.mat‎

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‎Assets/Materials/Black.Red.Yellow.Green.mat.meta‎

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‎Assets/Materials/BlackRedYellowGreen.mat‎

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‎Assets/Scenes/GridExample.unity‎

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@@ -308,7 +308,7 @@ MeshRenderer:
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m_RenderingLayerMask: 1
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m_RendererPriority: 0
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m_Materials:
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@@ -561,8 +561,9 @@ MonoBehaviour:
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m_Name:
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m_EditorClassIdentifier:
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debugGrid: 0
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startFromLastNode: 1
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‎Assets/Scripts/Grid/GridBase.cs‎

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Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@
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protected TextMesh[,] debugTextArray;
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// --- Events ---
14-
public Action<Vector3, T> OnValueChange;
14+
public Action<Vector2Int, T> OnCellChange;
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public bool showDebug;
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public int Width { get; set; }
@@ -52,7 +52,7 @@ public GridBase(int width, int height, float cellSize = 10f, Vector3 origin = de
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{
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if (DefaultConstructor != null)
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{
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gridArray[x, y] = (T) DefaultConstructor.Invoke(new object[] {this, x, y});
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gridArray[x, y] = (T)DefaultConstructor.Invoke(new object[] { this, x, y });
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} else
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{
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gridArray[x, y] = new T();
@@ -63,12 +63,12 @@ public GridBase(int width, int height, float cellSize = 10f, Vector3 origin = de
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{
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var worldPosition = CellToWorld(x, y);
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66-
debugTextArray[x,y] = UtilsClass.CreateWorldText(
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text: gridArray[x, y].ToString(),
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parent: null,
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localPosition: worldPosition + new Vector3(cellSize, cellSize) * 0.5f,
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fontSize: 20,
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color: Color.white,
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debugTextArray[x, y] = UtilsClass.CreateWorldText(
67+
text: gridArray[x, y].ToString(),
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parent: null,
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localPosition: worldPosition + new Vector3(cellSize, cellSize) * 0.5f,
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fontSize: 20,
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color: Color.white,
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textAnchor: TextAnchor.MiddleCenter
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);
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@@ -85,6 +85,11 @@ public GridBase(int width, int height, float cellSize = 10f, Vector3 origin = de
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}
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}
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public virtual void TriggerCellChange(Vector2Int cellPosition, T value = default)
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{
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OnCellChange?.Invoke(cellPosition, value);
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}
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public void SetCell(int x, int y, T value)
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{
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if (x >= 0 && y >= 0 && x < Width && y < Height)
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debugTextArray[x, y].text = value.ToString();
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}
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OnValueChange?.Invoke(new Vector3(x, y), value);
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OnCellChange?.Invoke(new Vector2Int(x, y), value);
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}
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public void SetCell(Vector3 worldPosition, T value)

‎Assets/Scripts/Pathfinding/PathNode.cs‎

Lines changed: 14 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -8,11 +8,22 @@ public class PathNode
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public int hCost;
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public int fCost;
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protected bool walkable = true;
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public PathNode cameFromNode = null;
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public Vector2Int Position { get; set; }
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public bool isWalkable {
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get => true;
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private set { }
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public bool IsWalkable {
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get => walkable;
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set {
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walkable = value;
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if (grid != null)
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{
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grid.TriggerCellChange(Position);
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}
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}
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}
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protected GridBase<PathNode> grid;

‎Assets/Scripts/Pathfinding/Pathfinding.cs‎

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Original file line numberDiff line numberDiff line change
@@ -93,6 +93,13 @@ public virtual List<PathNode> FindPath(Vector2Int startPos, Vector2Int endPos)
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continue;
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}
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// Avoid unwallkable obstracles (e.g. walls) to follow the path
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if (!neighbourNode.IsWalkable)
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{
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closedList.Add(neighbourNode);
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continue;
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}
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int tentativeGCost = currentNode.gCost + CalculateDistanceCost(currentNode, neighbourNode);
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if (tentativeGCost < neighbourNode.gCost)
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{

‎Assets/Scripts/Pathfinding/PathfindingVisual.cs‎

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Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ If you have any questions let me know
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using UnityEngine;
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// TODO: Change the "PathfindingDebugVisual" class to show Meshes insteadof each gameObject to shows the path
15+
// TODO: Change to use only this class for pathfinding debug to show Meshes insteadof each gameObject to shows the path
1616
public class PathfindingVisual : MonoBehaviour {
1717

1818
private GridBase<PathNode> grid;
@@ -28,18 +28,18 @@ private void OnDisable()
2828
{
2929
if (grid != null)
3030
{
31-
grid.OnValueChange -= OnCellChange;
31+
grid.OnCellChange -= OnCellChange;
3232
}
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}
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3535
public void SetGrid(GridBase<PathNode> grid) {
3636
this.grid = grid;
3737
UpdateVisual();
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grid.OnValueChange += OnCellChange;
39+
grid.OnCellChange += OnCellChange;
4040
}
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private void OnCellChange(Vector3 cellPosition, PathNode value) {
42+
private void OnCellChange(Vector2Int cellPosition, PathNode value) {
4343
updateMesh = true;
4444
}
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6161
PathNode pathNode = grid.GetCell(x, y);
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63-
if (pathNode.isWalkable) {
63+
if (pathNode.IsWalkable) {
6464
quadSize = Vector3.zero;
6565
}
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‎Assets/Scripts/Tests/TestingPathfinding.cs‎

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Original file line numberDiff line numberDiff line change
@@ -6,23 +6,27 @@ public class TestingPathfinding : MonoBehaviour
66
{
77

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[SerializeField]
9-
protected bool debugGrid = true;
9+
protected PathfindingDebugVisual pathfindingDebugVisual;
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1111
[SerializeField]
12-
protected bool startFromLastNode = false;
12+
protected PathfindingVisual pathfindingVisual;
13+
14+
protected Pathfinding pathfinding;
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1416
[SerializeField]
15-
protected PathfindingDebugVisual pathfindingDebugVisual;
17+
protected bool debugGrid = true;
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1719
[SerializeField]
18-
protected PathfindingVisual pathfindingVisual;
20+
protected bool startFromLastNode = false;
1921

20-
protected Pathfinding pathfinding;
22+
[SerializeField]
23+
[Tooltip("X = width, Y = height")]
24+
protected Vector2Int gridSize = new Vector2Int(10, 10);
2125

2226
// Start is called before the first frame update
2327
void Start()
2428
{
25-
pathfinding = new Pathfinding(width: 10, height: 10, startPosition: Vector2Int.zero, debugGrid: debugGrid);
29+
pathfinding = new Pathfinding(width: gridSize.x, height: gridSize.y, startPosition: Vector2Int.zero, debugGrid: debugGrid);
2630

2731
if (pathfindingDebugVisual != null)
2832
{
@@ -55,5 +59,18 @@ void Update()
5559
}
5660
}
5761
}
62+
63+
// Put walls
64+
if (Input.GetMouseButtonDown(1))
65+
{
66+
Vector3 mouseWorldPosition = UtilsClass.GetMouseWorldPosition();
67+
var cellPosition = pathfinding.Grid.WorldToCell(mouseWorldPosition);
68+
var node = pathfinding.Grid.GetCell(cellPosition.x, cellPosition.y);
69+
70+
if (node != null)
71+
{
72+
node.IsWalkable = !node.IsWalkable;
73+
}
74+
}
5875
}
5976
}

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