From ec76aedd824aa47c0081533e97b62e39c2118cb3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jakub=20=C5=81angowski?= Date: Sun, 25 Apr 2021 17:52:21 +0200 Subject: [PATCH] Implmentacja A* --- Assembly-CSharp.csproj | 4 +- .../Graphics/Materials/NodeExplored_Mat.mat | 78 ++ .../Materials/NodeExplored_Mat.mat.meta | 8 + Assets/Graphics/Materials/Node_mat.mat | 2 +- Assets/Logic/Agent/FringeNode.cs | 34 + ...FringeNodes.cs.meta => FringeNode.cs.meta} | 0 Assets/Logic/Agent/FringeNodeHeap.cs | 31 + Assets/Logic/Agent/FringeNodeHeap.cs.meta | 3 + Assets/Logic/Agent/FringeNodes.cs | 20 - Assets/Logic/Agent/PathFinder.cs | 70 +- Assets/Logic/Agent/State.cs | 3 +- Assets/Logic/Agent/Waitress.cs | 46 +- Assets/Logic/Graph/Node.cs | 31 +- Assets/Logic/SceneContext.cs | 3 + Assets/Logic/Utils/Heap.cs | 110 +++ Assets/Logic/Utils/Heap.cs.meta | 3 + Assets/Prefabs/Map/Smart/BarObstacle.prefab | 20 +- Assets/Prefabs/Map/Smart/Node_Prefab.prefab | 7 +- .../Prefabs/Map/Smart/TableNode_Prefab.prefab | 9 +- Assets/Scenes/SampleScene.unity | 830 ++++++++++-------- 20 files changed, 848 insertions(+), 464 deletions(-) create mode 100644 Assets/Graphics/Materials/NodeExplored_Mat.mat create mode 100644 Assets/Graphics/Materials/NodeExplored_Mat.mat.meta create mode 100644 Assets/Logic/Agent/FringeNode.cs rename Assets/Logic/Agent/{FringeNodes.cs.meta => FringeNode.cs.meta} (100%) create mode 100644 Assets/Logic/Agent/FringeNodeHeap.cs create mode 100644 Assets/Logic/Agent/FringeNodeHeap.cs.meta delete mode 100644 Assets/Logic/Agent/FringeNodes.cs create mode 100644 Assets/Logic/Utils/Heap.cs create mode 100644 Assets/Logic/Utils/Heap.cs.meta diff --git a/Assembly-CSharp.csproj b/Assembly-CSharp.csproj index 7d2da47..e6d7713 100644 --- a/Assembly-CSharp.csproj +++ b/Assembly-CSharp.csproj @@ -53,7 +53,7 @@ - + @@ -61,6 +61,7 @@ + @@ -69,6 +70,7 @@ + diff --git a/Assets/Graphics/Materials/NodeExplored_Mat.mat b/Assets/Graphics/Materials/NodeExplored_Mat.mat new file mode 100644 index 0000000..6a47171 --- /dev/null +++ b/Assets/Graphics/Materials/NodeExplored_Mat.mat @@ -0,0 +1,78 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!21 &2100000 +Material: + serializedVersion: 6 + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_Name: NodeExplored_Mat + m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0} + m_ShaderKeywords: + m_LightmapFlags: 4 + m_EnableInstancingVariants: 0 + m_DoubleSidedGI: 0 + m_CustomRenderQueue: -1 + stringTagMap: {} + disabledShaderPasses: [] + m_SavedProperties: + serializedVersion: 3 + m_TexEnvs: + - _BumpMap: + m_Texture: {fileID: 0} + m_Scale: {x: 1, y: 1} + m_Offset: {x: 0, y: 0} + - _DetailAlbedoMap: + m_Texture: {fileID: 0} + m_Scale: {x: 1, y: 1} + m_Offset: {x: 0, y: 0} + - 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_Color: {r: 0.18903318, g: 0.8773585, b: 0.16967781, a: 1} + - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} + m_BuildTextureStacks: [] diff --git a/Assets/Graphics/Materials/NodeExplored_Mat.mat.meta b/Assets/Graphics/Materials/NodeExplored_Mat.mat.meta new file mode 100644 index 0000000..e05c887 --- /dev/null +++ b/Assets/Graphics/Materials/NodeExplored_Mat.mat.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9ac24eaf07a787147878b53b3ef377bc +NativeFormatImporter: + externalObjects: {} + mainObjectFileID: 2100000 + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Graphics/Materials/Node_mat.mat b/Assets/Graphics/Materials/Node_mat.mat index 3a4f845..4ed5a1d 100644 --- a/Assets/Graphics/Materials/Node_mat.mat +++ b/Assets/Graphics/Materials/Node_mat.mat @@ -7,7 +7,7 @@ Material: m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} - m_Name: Node_mat + m_Name: Node_Mat m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0} m_ShaderKeywords: m_LightmapFlags: 4 diff --git a/Assets/Logic/Agent/FringeNode.cs b/Assets/Logic/Agent/FringeNode.cs new file mode 100644 index 0000000..7eb6b59 --- /dev/null +++ b/Assets/Logic/Agent/FringeNode.cs @@ -0,0 +1,34 @@ +using Logic.Utils; + +namespace Logic.Agent +{ + public class FringeNode: IHeapItem + { + public readonly State State; + public FringeNode Parent; + public AgentAction Action; + public float HCost; + public float GCost; + public int HeapIndex { get; set; } + + + public FringeNode(State state) + { + State = state; + } + + public float FCost => GCost + HCost; + + + public int CompareTo(FringeNode other) + { + int compare = FCost.CompareTo(other.FCost); + if (compare == 0) + { + compare = HCost.CompareTo(other.HCost); + } + + return -compare; + } + } +} diff --git a/Assets/Logic/Agent/FringeNodes.cs.meta b/Assets/Logic/Agent/FringeNode.cs.meta similarity index 100% rename from Assets/Logic/Agent/FringeNodes.cs.meta rename to Assets/Logic/Agent/FringeNode.cs.meta diff --git a/Assets/Logic/Agent/FringeNodeHeap.cs b/Assets/Logic/Agent/FringeNodeHeap.cs new file mode 100644 index 0000000..ef1f970 --- /dev/null +++ b/Assets/Logic/Agent/FringeNodeHeap.cs @@ -0,0 +1,31 @@ +using Logic.Utils; + +namespace Logic.Agent +{ + public class FringeNodeHeap: Heap + { + public FringeNodeHeap(int maxHeapSize) : base(maxHeapSize) { } + + public bool Contains(FringeNode item) + { + foreach (FringeNode fringeNode in Items) + { + if (fringeNode != null && fringeNode.State.Equals(item.State)) + return true; + } + + return false; + } + + public FringeNode GetItem(FringeNode item) + { + foreach (FringeNode fringeNode in Items) + { + if (fringeNode != null && fringeNode.State.Equals(item.State)) + return fringeNode; + } + + return null; + } + } +} \ No newline at end of file diff --git a/Assets/Logic/Agent/FringeNodeHeap.cs.meta b/Assets/Logic/Agent/FringeNodeHeap.cs.meta new file mode 100644 index 0000000..f145f47 --- /dev/null +++ b/Assets/Logic/Agent/FringeNodeHeap.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 34a52f0a39ad4d9faf3238d9cd5dd6bc +timeCreated: 1619354659 \ No newline at end of file diff --git a/Assets/Logic/Agent/FringeNodes.cs b/Assets/Logic/Agent/FringeNodes.cs deleted file mode 100644 index 10aa950..0000000 --- a/Assets/Logic/Agent/FringeNodes.cs +++ /dev/null @@ -1,20 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; -using System.Threading.Tasks; -using Logic.Agent; - -namespace Assets.Logic.Agent -{ - public class FringeNodes - { - public FringeNodes(State state) - { - State = state; - } - public State State; - public FringeNodes Parent; - public AgentAction Action; - } -} diff --git a/Assets/Logic/Agent/PathFinder.cs b/Assets/Logic/Agent/PathFinder.cs index ac67feb..7eb6cd4 100644 --- a/Assets/Logic/Agent/PathFinder.cs +++ b/Assets/Logic/Agent/PathFinder.cs @@ -1,7 +1,6 @@ using System; using System.Collections.Generic; using System.Linq; -using Assets.Logic.Agent; using Logic.Graph; using UnityEngine; @@ -9,10 +8,72 @@ namespace Logic.Agent { public class PathFinder : MonoBehaviour { - public Stack GraphSearch(Queue fringe, HashSet explored, State iState, State goalState) + + public Stack GraphSearchWithCost(FringeNodeHeap fringe, HashSet explored, State iState, State goalState) { Stack stack = new Stack(); - fringe.Enqueue(new FringeNodes(iState)); + fringe.Enqueue(new FringeNode(iState)); + while (fringe.Count != 0) + { + var elem = fringe.Dequeue(); + + if (goalTest(elem.State, goalState)) + { + while (!elem.State.Equals(iState)) + { + elem.State.AgentPosition.MarkAsPath(); + stack.Push(elem.Action); + elem = elem.Parent; + } + return stack; + } + + explored.Add(elem); + foreach (Tuple successor in Succ(elem.State)) + { + var x = new FringeNode(successor.Item1) + { + Parent = elem, + Action = successor.Item2, + HCost = GETDistanceBetweenStates(successor.Item1, goalState), + GCost = GETDistanceBetweenStates(elem.State, successor.Item1) + elem.GCost + successor.Item1.AgentPosition.GETNodeCost() + }; + + if (!fringe.Contains(x) && !explored.Any(z => z.State.Equals(successor.Item1))) + { + fringe.Enqueue(x); + x.State.AgentPosition.MarkAsExplored(); + } + else if (fringe.Contains(x) && fringe.GetItem(x).FCost > x.FCost) + { + fringe.UpdateItem(x, fringe.GetItem(x).HeapIndex); + } + } + } + + return stack; + } + + private float GETDistanceBetweenStates(State state1, State state2) + { + var state1Pos = state1.AgentPosition.transform.position; + var state2Pos = state2.AgentPosition.transform.position; + + float distX = Mathf.Abs(state1Pos.x - state2Pos.x); + float distY = Mathf.Abs(state1Pos.z - state2Pos.z); + + if (state1.AgentRotation != state2.AgentRotation) + { + return distX + distY + SceneContext.Instance.rotationCost; + } + + return distX + distY; + } + + public Stack GraphSearch(Queue fringe, HashSet explored, State iState, State goalState) + { + Stack stack = new Stack(); + fringe.Enqueue(new FringeNode(iState)); while (fringe.Count != 0) { var elem = fringe.Dequeue(); @@ -34,8 +95,9 @@ namespace Logic.Agent if (fringe.Any(z => z.State.Equals(successor.Item1)) || explored.Any(z => z.State.Equals(successor.Item1))) continue; - var x = new FringeNodes(successor.Item1) {Parent = elem, Action = successor.Item2}; + var x = new FringeNode(successor.Item1) {Parent = elem, Action = successor.Item2}; fringe.Enqueue(x); + x.State.AgentPosition.MarkAsExplored(); } } diff --git a/Assets/Logic/Agent/State.cs b/Assets/Logic/Agent/State.cs index 4223ccc..14fa6ca 100644 --- a/Assets/Logic/Agent/State.cs +++ b/Assets/Logic/Agent/State.cs @@ -1,7 +1,6 @@ using Logic.Graph; -using System; -namespace Assets.Logic.Agent +namespace Logic.Agent { public enum Rotation { diff --git a/Assets/Logic/Agent/Waitress.cs b/Assets/Logic/Agent/Waitress.cs index 342f937..047e682 100644 --- a/Assets/Logic/Agent/Waitress.cs +++ b/Assets/Logic/Agent/Waitress.cs @@ -2,8 +2,8 @@ using System; using System.Collections; using System.Collections.Generic; using System.Diagnostics; -using Assets.Logic.Agent; using Logic.Graph; +using Logic.Utils; using UnityEngine; using Debug = UnityEngine.Debug; @@ -17,11 +17,9 @@ namespace Logic.Agent } public class Waitress : MonoBehaviour { - //[SerializeField] private Node currentNode; - public Node StartNode; + public Node startNode; [SerializeField] private bool isFollowingPath; [SerializeField] private bool canMove = true; - //private Node _previousNode; private State _currentState; private State _previousState; private PathFinder _pathFinder; @@ -29,12 +27,8 @@ namespace Logic.Agent void Awake() { _pathFinder = GetComponent(); - _currentState = new State(); - _currentState.AgentPosition = StartNode; - _currentState.AgentRotation = Rotation.Top; - _previousState = new State(); - _previousState.AgentPosition = StartNode; - _previousState.AgentRotation = Rotation.Top; + _currentState = new State {AgentPosition = startNode, AgentRotation = Rotation.Top}; + _previousState = new State {AgentPosition = startNode, AgentRotation = Rotation.Top}; } void Update() @@ -74,12 +68,30 @@ namespace Logic.Agent goalState.AgentPosition = table; goalState.AgentRotation = Rotation.Right; - Stack actions = _pathFinder.GraphSearch(new Queue(), new HashSet(), - _currentState, goalState); + Stack actions; + if (SceneContext.Instance.useAStar) + { + var priorityQueue = new FringeNodeHeap(SceneContext.Instance.map.Count * 4); + actions = _pathFinder.GraphSearchWithCost(priorityQueue, new HashSet(), _currentState, goalState); + } + else + { + actions = _pathFinder.GraphSearch(new Queue(), new HashSet(), _currentState, goalState); + } + if (actions.Count > 0) { StartCoroutine(ExecuteActions(actions)); } + + } + + private void ClearMap() + { + foreach (Node node in SceneContext.Instance.map) + { + node.ClearPathMark(); + } } private IEnumerator ExecuteActions(Stack actions) @@ -118,18 +130,16 @@ namespace Logic.Agent : Rotation.Left; break; case AgentAction.GoForward: - StartCoroutine( - RunToAnotherNode(_currentState.AgentPosition.FindNode(_currentState.AgentRotation))); - + StartCoroutine(RunToAnotherNode(_currentState.AgentPosition.FindNode(_currentState.AgentRotation))); break; } - //node.Item2?.Invoke(); } yield return new WaitForEndOfFrame(); } - + isFollowingPath = false; + ClearMap(); } private IEnumerator RotateLeft() @@ -160,7 +170,7 @@ namespace Logic.Agent float i = 0; while (i <= 1) { - Debug.Log(i); + // Debug.Log(i); transform.rotation = Quaternion.Slerp(startRotation, targetRotation, i); yield return new WaitForEndOfFrame(); i += Time.deltaTime*3; diff --git a/Assets/Logic/Graph/Node.cs b/Assets/Logic/Graph/Node.cs index 85d8afb..346206b 100644 --- a/Assets/Logic/Graph/Node.cs +++ b/Assets/Logic/Graph/Node.cs @@ -1,7 +1,7 @@ using System; using System.Collections.Generic; using System.Linq; -using Assets.Logic.Agent; +using Logic.Agent; using Logic.Utils; using UnityEngine; @@ -12,12 +12,10 @@ namespace Logic.Graph public List neighbors; [SerializeField] private Material nodeMat; [SerializeField] private Material pathMat; + [SerializeField] private Material exploredMat; [SerializeField] private bool debug = false; - - [SerializeField] private int movementPenalty = 0; - [SerializeField] private int hCost; - [SerializeField] private int gCost; - public int FCost => gCost + hCost; + [SerializeField] private float movementPenalty; + private readonly float _maxRayRange = 0.75f; private readonly float _maxTableRayRange = 0.5f; @@ -34,8 +32,14 @@ namespace Logic.Graph { _renderer = GetComponent(); InitializeNeighbours(); + movementPenalty += SceneContext.Instance.nodeBaseCost; } - + + public float GETNodeCost() + { + return movementPenalty; + } + public void MarkAsPath() { if (!gameObject.CompareTag("Table")) @@ -44,6 +48,14 @@ namespace Logic.Graph } } + public void MarkAsExplored() + { + if (!gameObject.CompareTag("Table")) + { + _renderer.material = exploredMat; + } + } + public void ClearPathMark() { if (!gameObject.CompareTag("Table")) @@ -67,11 +79,11 @@ namespace Logic.Graph 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)); + x.transform.position.z.IsEq(transform.position.z + 1)); 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)); + x.transform.position.z.IsEq(transform.position.z - 1)); default: return null; } @@ -176,7 +188,6 @@ namespace Logic.Graph } } - } } diff --git a/Assets/Logic/SceneContext.cs b/Assets/Logic/SceneContext.cs index feab14b..403e979 100644 --- a/Assets/Logic/SceneContext.cs +++ b/Assets/Logic/SceneContext.cs @@ -10,6 +10,9 @@ namespace Logic { public List map; public ObstacleData[] obstacles; + public float nodeBaseCost; + public float rotationCost; + public bool useAStar = true; public static SceneContext Instance; void Awake() diff --git a/Assets/Logic/Utils/Heap.cs b/Assets/Logic/Utils/Heap.cs new file mode 100644 index 0000000..c7b7c27 --- /dev/null +++ b/Assets/Logic/Utils/Heap.cs @@ -0,0 +1,110 @@ +using System; + +namespace Logic.Utils +{ + public class Heap where T : IHeapItem + { + protected readonly T[] Items; + private int _currentItemCount; + + protected Heap(int maxHeapSize) + { + Items = new T[maxHeapSize]; + } + + public void Enqueue(T item) + { + item.HeapIndex = _currentItemCount; + Items[_currentItemCount] = item; + SortUp(item); + _currentItemCount++; + } + + public T Dequeue() + { + T firstItem = Items[0]; + _currentItemCount--; + Items[0] = Items[_currentItemCount]; + Items[0].HeapIndex = 0; + SortDown(Items[0]); + return firstItem; + } + + public void UpdateItem(T item, int index) + { + item.HeapIndex = index; + Items[index] = item; + SortUp(item); + } + + public int Count => _currentItemCount; + + private void SortDown(T item) + { + while (true) + { + int childIndexLeft = item.HeapIndex * 2 + 1; + int childIndexRight = item.HeapIndex * 2 + 2; + int swapIndex = 0; + if (childIndexLeft < _currentItemCount) + { + swapIndex = childIndexLeft; + if (childIndexRight < _currentItemCount) + { + if (Items[childIndexLeft].CompareTo(Items[childIndexRight]) < 0) + { + swapIndex = childIndexRight; + } + } + + if (item.CompareTo(Items[swapIndex]) < 0) + { + Swap(item, Items[swapIndex]); + } + else + { + return; + } + } + else + { + return; + } + } + } + + private void SortUp(T item) + { + int parentIndex = (item.HeapIndex - 1) / 2; + while (true) + { + T parentItem = Items[parentIndex]; + if (item.CompareTo(parentItem) > 0) + { + Swap(item, parentItem); + } + else + { + break; + } + parentIndex = (item.HeapIndex - 1) / 2; + } + } + + private void Swap(T itemA, T itemB) + { + Items[itemA.HeapIndex] = itemB; + Items[itemB.HeapIndex] = itemA; + int itemAIndex = itemA.HeapIndex; + itemA.HeapIndex = itemB.HeapIndex; + itemB.HeapIndex = itemAIndex; + } + + } + + + public interface IHeapItem : IComparable + { + int HeapIndex { get; set; } + } +} diff --git a/Assets/Logic/Utils/Heap.cs.meta b/Assets/Logic/Utils/Heap.cs.meta new file mode 100644 index 0000000..057c704 --- /dev/null +++ b/Assets/Logic/Utils/Heap.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 92f8dbe7c78e4a119f67c2ce3b6a4b5f +timeCreated: 1619189961 \ No newline at end of file diff --git a/Assets/Prefabs/Map/Smart/BarObstacle.prefab b/Assets/Prefabs/Map/Smart/BarObstacle.prefab index 128b74c..d2be228 100644 --- a/Assets/Prefabs/Map/Smart/BarObstacle.prefab +++ b/Assets/Prefabs/Map/Smart/BarObstacle.prefab @@ -11,7 +11,6 @@ GameObject: - component: {fileID: 6453329937250285970} - component: {fileID: 8315836113623620561} - component: {fileID: 7059161905270609152} - - component: {fileID: 2089487727296566617} m_Layer: 9 m_Name: BarObstacle m_TagString: Untagged @@ -46,22 +45,9 @@ BoxCollider: m_IsTrigger: 0 m_Enabled: 1 serializedVersion: 2 - m_Size: {x: 1, y: 1.1, z: 1.1} + m_Size: {x: 1, y: 1, z: 1} m_Center: {x: 0, y: 0, z: 0} --- !u!114 &7059161905270609152 -MonoBehaviour: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 4775359161287261870} - m_Enabled: 1 - m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: d9978794eb6647e2972119f5cdf214d6, type: 3} - m_Name: - m_EditorClassIdentifier: - obstacleType: 0 ---- !u!114 &2089487727296566617 MonoBehaviour: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} @@ -101,7 +87,7 @@ Transform: m_GameObject: {fileID: 7458537012890967998} m_LocalRotation: {x: -0, y: -0, z: 0.7071069, w: 0.70710677} m_LocalPosition: {x: -0.000000017881, y: 0, z: -0.003} - m_LocalScale: {x: 0.34042966, y: 1, z: 1} + m_LocalScale: {x: 0.32, y: 1, z: 1} m_Children: [] m_Father: {fileID: 6453329937250285970} m_RootOrder: 1 @@ -182,7 +168,7 @@ Transform: m_GameObject: {fileID: 8706372573158961954} m_LocalRotation: {x: -0, y: -0, z: 0.7071069, w: 0.70710677} m_LocalPosition: {x: -0.00000059678, y: -0.00000044656, z: -0.50938} - m_LocalScale: {x: 0.33080274, y: 1, z: 0.50625} + m_LocalScale: {x: 0.315, y: 1, z: 0.50625} m_Children: [] m_Father: {fileID: 6453329937250285970} m_RootOrder: 0 diff --git a/Assets/Prefabs/Map/Smart/Node_Prefab.prefab b/Assets/Prefabs/Map/Smart/Node_Prefab.prefab index a7599b6..32f6bda 100644 --- a/Assets/Prefabs/Map/Smart/Node_Prefab.prefab +++ b/Assets/Prefabs/Map/Smart/Node_Prefab.prefab @@ -46,15 +46,12 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: c774c22d330c32f48bfaca0426c29ad5, type: 3} m_Name: m_EditorClassIdentifier: + neighbors: [] nodeMat: {fileID: 2100000, guid: bc3e8f6bac7842c4ab76e3b39f31a353, type: 2} pathMat: {fileID: 2100000, guid: 1293cff8126771046a5a69f1aa772d65, type: 2} - 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