Dodana możliwość wejścia do stolika z lewej strony + klasa przeszkody

Assets/Logic/Agent/State.cs

@@ -14,12 +14,37 @@ namespace Assets.Logic.Agent
     {
         public Rotation AgentRotation;
         public Node AgentPosition;
-
+        
         public override bool Equals(object obj)
         {
             if (obj == null) return false;
             var state = (State) obj;
+
+            if (state.AgentPosition is Table)
+            {
+                return AgentPosition == state.AgentPosition &&
+                       (AgentRotation == GETOppositeRotation(state.AgentRotation) ||
+                        AgentRotation == state.AgentRotation);
+            }
+            
             return AgentPosition == state.AgentPosition && AgentRotation == state.AgentRotation;
         }
+
+        private Rotation GETOppositeRotation(Rotation rotation)
+        {
+            switch (rotation)
+            {
+                case Rotation.Bottom:
+                    return Rotation.Top;
+                case Rotation.Top:
+                    return Rotation.Bottom;
+                case Rotation.Left:
+                    return Rotation.Right;
+                case Rotation.Right:
+                    return Rotation.Left;
+            }
+
+            return Rotation.Top;
+        }
     }
 }

Assets/Logic/Graph/Node.cs

@@ -9,14 +9,22 @@ namespace Logic.Graph
 {
     public class Node : MonoBehaviour
     {
-        public Material nodeMat;
-        public Material pathMat;
         public List<Node> neighbors;
-        [SerializeField] private float maxRange = 0.5f;
+        [SerializeField] private Material nodeMat;
+        [SerializeField] private Material pathMat;
         [SerializeField] private bool debug = false;
+        
+        [SerializeField] private int movementPenalty = 0;
+        [SerializeField] private int hCost;
+        [SerializeField] private int gCost;
+        public int FCost => gCost + hCost;
 
+        private readonly float _maxRayRange = 0.75f;
+        private readonly float _maxTableRayRange = 0.5f;
+        private readonly float _maxSphereRange = 0.25f;
         private int _nodeLayerMask;
         private int _tableLayerMask;
+        private int _obstacleLayerMask;
         private Vector3 _position;
         private float _nodeRayMaxLength;
         private float _tableRayMaxLength;
@@ -28,20 +36,6 @@ namespace Logic.Graph
             InitializeNeighbours();
         }
         
-        private void Update()
-        {
-            if (debug)
-            {
-                Debug.DrawRay(_position, Vector3.right + new Vector3(maxRange, 0, 0), Color.red);
-                Debug.DrawRay(_position, Vector3.left + new Vector3(-maxRange, 0, 0), Color.blue);
-                Debug.DrawRay(_position, Vector3.forward + new Vector3(0, 0, maxRange), Color.green);
-                Debug.DrawRay(_position, Vector3.back + new Vector3(0, 0, -maxRange), Color.magenta);
-        
-                Debug.DrawRay(_position, Vector3.right + new Vector3(_tableRayMaxLength, 0, 0), Color.cyan);
-                Debug.DrawRay(_position, Vector3.left + new Vector3(-_tableRayMaxLength, 0, 0), Color.yellow);
-            }
-        }
-
         public void MarkAsPath()
         {
             if (!gameObject.CompareTag("Table"))
@@ -57,15 +51,82 @@ namespace Logic.Graph
                 _renderer.material = nodeMat;
             }
         }
+
+        public Node FindNode(Rotation agentRotation)
+        {
+            switch (agentRotation)
+            {
+                case Rotation.Left:
+                    return neighbors.FirstOrDefault(x =>
+                        x.transform.position.z.IsEq(transform.position.z) &&
+                        x.transform.position.x.IsEq(transform.position.x - 1));
+                case Rotation.Right:
+                    return neighbors.FirstOrDefault(x =>
+                        x.transform.position.z.IsEq(transform.position.z) &&
+                        x.transform.position.x.IsEq(transform.position.x + 1));
+                case Rotation.Top:
+                    return neighbors.FirstOrDefault(x =>
+                        x.transform.position.x.IsEq(transform.position.x) &&
+                        x.transform.position.z.IsEq(transform.position.z + 1.25f));
+                case Rotation.Bottom:
+                    return neighbors.FirstOrDefault(x =>
+                        x.transform.position.x.IsEq(transform.position.x) &&
+                        x.transform.position.z.IsEq(transform.position.z - 1.25f));
+                default:
+                    return null;
+            }
+        }
+
+        private void Update()
+        {
+            if (debug)
+            {
+                Debug.DrawRay(_position, Vector3.right + new Vector3(_maxRayRange, 0, 0), Color.red);
+                Debug.DrawRay(_position, Vector3.left + new Vector3(-_maxRayRange, 0, 0), Color.blue);
+                Debug.DrawRay(_position, Vector3.forward + new Vector3(0, 0, _maxRayRange), Color.green);
+                Debug.DrawRay(_position, Vector3.back + new Vector3(0, 0, -_maxRayRange), Color.magenta);
+                
+                Debug.DrawRay(_position, Vector3.up + new Vector3(0, _maxRayRange, 0), Color.green);
+                Debug.DrawRay(_position, Vector3.down + new Vector3(0, -_maxRayRange, 0), Color.magenta);
         
+                Debug.DrawRay(_position, Vector3.right + new Vector3(_tableRayMaxLength, 0, 0), Color.cyan);
+                Debug.DrawRay(_position, Vector3.left + new Vector3(-_tableRayMaxLength, 0, 0), Color.yellow);
+                
+            }
+        }
+
+        private void OnDrawGizmos()
+        {
+            if (debug)
+            {
+                Gizmos.color = Color.blue;
+                Gizmos.DrawWireSphere(transform.position, _maxSphereRange);
+            }
+        }
+
         private void InitializeNeighbours()
         {
             _nodeLayerMask = LayerMask.GetMask("Node");
             _tableLayerMask = LayerMask.GetMask("Table");
+            _obstacleLayerMask = LayerMask.GetMask("Obstacle");
+            
             _position = gameObject.transform.position;
-            _nodeRayMaxLength = maxRange * 2;
-            _tableRayMaxLength = maxRange * 2 + 0.5f;
+            _nodeRayMaxLength = _maxRayRange * 2;
+            _tableRayMaxLength = _maxRayRange * 2 + 0.5f;
 
+            var colliders = Physics.OverlapSphere(transform.position, _maxSphereRange, _obstacleLayerMask);
+            var obstacleLayer = (int) Math.Log(_obstacleLayerMask, 2);
+            foreach (Collider otherCollider in colliders)
+            {
+                if (otherCollider.gameObject.layer == obstacleLayer)
+                {
+                    var obstacle = otherCollider.GetComponent<Obstacle>();
+                    var cost = obstacle.GETMovementPenaltyCost();
+                    if (cost > movementPenalty)
+                        movementPenalty = cost;
+                }
+            }
+            
             if (Physics.Raycast(_position, Vector3.left, out var hitLeft, _nodeRayMaxLength, _nodeLayerMask))
             {
                 var nodeCollider = hitLeft.collider.GetComponent<Node>();
@@ -87,14 +148,14 @@ namespace Logic.Graph
                     neighbors.Add(nodeCollider);
             }
 
-            if (Physics.Raycast(_position, Vector3.back, out var hitBottom, maxRange * 2, _nodeLayerMask))
+            if (Physics.Raycast(_position, Vector3.back, out var hitBottom, _maxRayRange * 2, _nodeLayerMask))
             {
                 var nodeCollider = hitBottom.collider.GetComponent<Node>();
                 if (nodeCollider)
                     neighbors.Add(nodeCollider);
             }
-
-            if (Physics.Raycast(_position, Vector3.left, out var hitLeftTable, _tableRayMaxLength, _tableLayerMask))
+            
+            if (Physics.Raycast(_position, Vector3.left, out var hitLeftTable, _maxTableRayRange, _tableLayerMask))
             {
                 var tableCollider = hitLeftTable.collider.GetComponent<CustomerTable>();
                 if (tableCollider)
@@ -104,7 +165,7 @@ namespace Logic.Graph
                     neighbors.Add(kitchenTableCollider);
             }
 
-            if (Physics.Raycast(_position, Vector3.right, out var hitRightTable, _tableRayMaxLength, _tableLayerMask))
+            if (Physics.Raycast(_position, Vector3.right, out var hitRightTable, _maxTableRayRange, _tableLayerMask))
             {
                 var tableCollider = hitRightTable.collider.GetComponent<CustomerTable>();
                 if (tableCollider)
@@ -113,32 +174,9 @@ namespace Logic.Graph
                 if (kitchenTableCollider)
                     neighbors.Add(kitchenTableCollider);
             }
+            
         }
 
-        public Node FindNode(Rotation agentRotation)
-        {
-            switch (agentRotation)
-            {
-                case Rotation.Left:
-                    return neighbors.FirstOrDefault(x =>
-                            x.transform.position.z.IsEq(transform.position.z) &&
-                            x.transform.position.x.IsEq(transform.position.x - 1));
-                case Rotation.Right:
-                    return neighbors.FirstOrDefault(x =>
-                        x.transform.position.z.IsEq(transform.position.z) &&
-                        x.transform.position.x.IsEq(transform.position.x + 1));
-                case Rotation.Top:
-                    return neighbors.FirstOrDefault(x =>
-                        x.transform.position.x.IsEq(transform.position.x) &&
-                        x.transform.position.z.IsEq(transform.position.z + 1.25f));
-                case Rotation.Bottom:
-                    return neighbors.FirstOrDefault(x =>
-                        x.transform.position.x.IsEq(transform.position.x) &&
-                        x.transform.position.z.IsEq(transform.position.z - 1.25f));
-                default:
-                    return null;
-            }
-        }
     }
     
 }

Assets/Logic/Graph/Obstacle.cs

@@ -0,0 +1,33 @@
+using System.Linq;
+using UnityEngine;
+
+namespace Logic.Graph
+{
+
+    public enum ObstacleType
+    {
+        Bar,
+        Water
+    }
+    
+        
+    [System.Serializable]
+    public class ObstacleData
+    {
+        public ObstacleType type;
+        public int penalty;
+    }
+    
+    public class Obstacle : MonoBehaviour
+    {
+
+        [SerializeField] private ObstacleType obstacleType;
+        
+        public int GETMovementPenaltyCost()
+        {
+            var obstacleData = SceneContext.Instance.obstacles.First(x => x.type == obstacleType);
+            return obstacleData.penalty;
+        }
+        
+    }
+}

Assets/Logic/Graph/Obstacle.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: d9978794eb6647e2972119f5cdf214d6
+timeCreated: 1619115607

Assets/Logic/SceneContext.cs

@@ -9,9 +9,10 @@ namespace Logic
     public class SceneContext : MonoBehaviour
     {
         public List<Node> map;
+        public ObstacleData[] obstacles;
         public static SceneContext Instance;
 
-        void Start()
+        void Awake()
         {
             Instance = this;
             Application.targetFrameRate = 144;
@@ -44,4 +45,5 @@ namespace Logic
                 DrawGizmosFrom(map.First(), new List<Node>());
         }
     }
+
 }

Assets/Prefabs/Map/Simple/BarCorner_Prefab.prefab

@@ -1,327 +0,0 @@
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