├── .gitattributes ├── .gitignore ├── Coderious_AStar ├── .vsconfig ├── Assets │ ├── PFMulti.cs │ ├── PFMulti.cs.meta │ ├── PFMultiWiki.cs │ ├── PFMultiWiki.cs.meta │ ├── PFWiki.cs │ ├── PFWiki.cs.meta │ ├── PathFinder.cs │ ├── PathFinder.cs.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── SampleScene.unity │ │ └── SampleScene.unity.meta │ ├── Tile.meta │ └── Tile │ │ ├── Tile 1.prefab │ │ ├── Tile 1.prefab.meta │ │ ├── Tile.asset │ │ ├── Tile.asset.meta │ │ ├── Tile.png │ │ ├── Tile.png.meta │ │ ├── Tile.prefab │ │ └── Tile.prefab.meta ├── Logs │ └── Packages-Update.log ├── Packages │ ├── manifest.json │ └── packages-lock.json └── ProjectSettings │ ├── AudioManager.asset │ ├── BurstAotSettings_StandaloneWindows.json │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── NetworkManager.asset │ ├── PackageManagerSettings.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── TagManager.asset │ ├── TimeManager.asset │ ├── UnityConnectSettings.asset │ ├── VFXManager.asset │ └── XRSettings.asset └── LICENSE /.gitattributes: -------------------------------------------------------------------------------- 1 | # Auto detect text files and perform LF normalization 2 | * text=auto 3 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | [Ll]ibrary/ 2 | [Tt]emp/ 3 | [Oo]bj/ 4 | [Bb]uild/ 5 | [Bb]uilds/ 6 | Assets/AssetStoreTools* 7 | 8 | # Visual Studio cache directory 9 | .vs/ 10 | 11 | # Autogenerated VS/MD/Consulo solution and project files 12 | ExportedObj/ 13 | .consulo/ 14 | *.csproj 15 | *.unityproj 16 | *.sln 17 | *.suo 18 | *.tmp 19 | *.user 20 | *.userprefs 21 | *.pidb 22 | *.booproj 23 | *.svd 24 | *.pdb 25 | *.opendb 26 | *.VC.db 27 | 28 | # Unity3D generated meta files 29 | *.pidb.meta 30 | *.pdb.meta 31 | 32 | # Unity3D Generated File On Crash Reports 33 | sysinfo.txt 34 | 35 | # Builds 36 | *.apk 37 | *.unitypackage 38 | -------------------------------------------------------------------------------- /Coderious_AStar/.vsconfig: -------------------------------------------------------------------------------- 1 | { 2 | "version": "1.0", 3 | "components": [ 4 | "Microsoft.VisualStudio.Workload.ManagedGame" 5 | ] 6 | } 7 | -------------------------------------------------------------------------------- /Coderious_AStar/Assets/PFMulti.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Tilemaps; 5 | using Unity.Mathematics; 6 | using Unity.Jobs; 7 | using Unity.Burst; 8 | using Unity.Collections; 9 | 10 | public class PFMulti : MonoBehaviour 11 | { 12 | public struct Node 13 | { 14 | public int2 coord; 15 | public int2 parent; 16 | public float gScore; 17 | public float hScore; 18 | public float fScore; 19 | } 20 | 21 | Hashtable obstacles, starts; 22 | Node end; 23 | int safeGuard = 1000; 24 | 25 | public Tilemap map; 26 | public Tile defaultTile; 27 | public Camera cam; 28 | 29 | public GameObject tilePrefab; 30 | 31 | [SerializeField] 32 | float unitSpeed = 5f; 33 | 34 | 35 | // Start is called before the first frame update 36 | void Start() 37 | { 38 | obstacles = new Hashtable(); 39 | starts = new Hashtable(); 40 | end = new Node { coord = int2.zero, parent = int2.zero, gScore = int.MaxValue, hScore = int.MaxValue }; 41 | } 42 | 43 | // Update is called once per frame 44 | void Update() 45 | { 46 | if (Input.GetKey(KeyCode.LeftShift) && Input.GetMouseButtonDown(0)) 47 | { 48 | PlaceStart(); 49 | } 50 | 51 | if (Input.GetKey(KeyCode.LeftControl) && Input.GetMouseButtonDown(0)) 52 | { 53 | PlaceEnd(); 54 | } 55 | 56 | if (Input.GetMouseButtonDown(0) && 57 | !Input.GetKey(KeyCode.LeftShift) && !Input.GetKey(KeyCode.LeftControl)) 58 | { 59 | PlaceObstacle(); 60 | } 61 | 62 | if(Input.GetKeyDown(KeyCode.Space)) 63 | { 64 | ClearTiles(); 65 | 66 | float startTime = Time.realtimeSinceStartup; 67 | 68 | FindPath(); 69 | 70 | float endTime = Time.realtimeSinceStartup; 71 | Debug.Log(endTime - startTime); 72 | } 73 | 74 | } 75 | 76 | void ClearTiles() 77 | { 78 | map.ClearAllTiles(); 79 | 80 | foreach (int2 s in starts.Keys) 81 | { 82 | Vector3Int start = new Vector3Int(s.x, s.y, 0); 83 | map.SetTile(start, defaultTile); 84 | map.SetTileFlags(start, TileFlags.None); 85 | map.SetColor(start, Color.green); 86 | } 87 | 88 | Vector3Int _end = new Vector3Int(end.coord.x, end.coord.y, 0); 89 | map.SetTile(_end, defaultTile); 90 | map.SetTileFlags(_end, TileFlags.None); 91 | map.SetColor(_end, Color.red); 92 | 93 | foreach(int2 o in obstacles.Keys) 94 | { 95 | Vector3Int obstacle = new Vector3Int(o.x, o.y, 0); 96 | map.SetTile(obstacle, defaultTile); 97 | map.SetTileFlags(obstacle, TileFlags.None); 98 | map.SetColor(obstacle, Color.black); 99 | } 100 | } 101 | 102 | void PlaceStart() 103 | { 104 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 105 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 106 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 107 | 108 | if (starts.ContainsKey(coord)) 109 | { 110 | map.SetTile(new Vector3Int(coord.x, coord.y, 0), null); 111 | starts.Remove(coord); 112 | } 113 | else if (!obstacles.ContainsKey(coord) && !coord.Equals(end.coord)) 114 | { 115 | Node startNode = new Node 116 | { 117 | coord = coord, 118 | parent = int2.zero, 119 | gScore = 0, 120 | hScore = float.MaxValue 121 | }; 122 | 123 | starts.Add(coord, startNode); 124 | map.SetTile(mouseCell, defaultTile); 125 | map.SetTileFlags(mouseCell, TileFlags.None); 126 | map.SetColor(mouseCell, Color.green); 127 | } 128 | } 129 | 130 | void PlaceEnd() 131 | { 132 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 133 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 134 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 135 | 136 | if(!obstacles.ContainsKey(coord) && !starts.ContainsKey(coord)) 137 | { 138 | map.SetTile(new Vector3Int(end.coord.x, end.coord.y, 0), null); 139 | 140 | end.coord = coord; 141 | map.SetTile(mouseCell, defaultTile); 142 | map.SetTileFlags(mouseCell, TileFlags.None); 143 | map.SetColor(mouseCell, Color.red); 144 | } 145 | 146 | } 147 | 148 | void PlaceObstacle() 149 | { 150 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 151 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 152 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 153 | 154 | if(obstacles.ContainsKey(coord)) 155 | { 156 | map.SetTile(new Vector3Int(coord.x, coord.y, 0), null); 157 | obstacles.Remove(coord); 158 | } 159 | else if(!starts.ContainsKey(coord) && !coord.Equals(end.coord)) 160 | { 161 | obstacles.Add(coord, true); 162 | map.SetTile(mouseCell, defaultTile); 163 | map.SetTileFlags(mouseCell, TileFlags.None); 164 | map.SetColor(mouseCell, Color.black); 165 | } 166 | } 167 | 168 | public void FindPath() 169 | { 170 | NativeHashMap isObstacle = 171 | new NativeHashMap(obstacles.Count, Allocator.TempJob); 172 | NativeArray offsets = new NativeArray(8, Allocator.TempJob); 173 | NativeArray startNative = new NativeArray(starts.Count, Allocator.TempJob); 174 | NativeMultiHashMap results = 175 | new NativeMultiHashMap(starts.Count * safeGuard, Allocator.TempJob); 176 | 177 | foreach(int2 o in obstacles.Keys) 178 | { 179 | isObstacle.Add(o, true); 180 | } 181 | 182 | int counter = 0; 183 | 184 | foreach(Node n in starts.Values) 185 | { 186 | startNative[counter] = n; 187 | counter++; 188 | } 189 | 190 | offsets[0] = new int2(0, 1); 191 | offsets[1] = new int2(1, 1); 192 | offsets[2] = new int2(1, 0); 193 | offsets[3] = new int2(1, -1); 194 | offsets[4] = new int2(0, -1); 195 | offsets[5] = new int2(-1, -1); 196 | offsets[6] = new int2(-1, 0); 197 | offsets[7] = new int2(-1, 1); 198 | 199 | AStar aStar = new AStar 200 | { 201 | isObstacle = isObstacle, 202 | offsets = offsets, 203 | startNative = startNative, 204 | results = results, 205 | end = end, 206 | safeGuard = safeGuard 207 | }; 208 | 209 | JobHandle handle = aStar.Schedule(starts.Count, 16); 210 | handle.Complete(); 211 | 212 | NativeKeyValueArrays keyValueArray = results.GetKeyValueArrays(Allocator.Temp); 213 | Dictionary> waypoints = new Dictionary>(); 214 | 215 | for(int i = 0; i < keyValueArray.Keys.Length; i++) 216 | { 217 | if(!waypoints.ContainsKey(keyValueArray.Keys[i])) 218 | { 219 | waypoints.Add(keyValueArray.Keys[i], new Queue()); 220 | waypoints[keyValueArray.Keys[i]].Enqueue(keyValueArray.Values[i]); 221 | } 222 | else 223 | { 224 | waypoints[keyValueArray.Keys[i]].Enqueue(keyValueArray.Values[i]); 225 | } 226 | } 227 | 228 | foreach(int2 start in waypoints.Keys) 229 | { 230 | StartCoroutine(MoveUnitCoroutine(start, waypoints[start])); 231 | } 232 | 233 | startNative.Dispose(); 234 | isObstacle.Dispose(); 235 | offsets.Dispose(); 236 | results.Dispose(); 237 | } 238 | 239 | IEnumerator MoveUnitCoroutine(int2 start, Queue waypoints) 240 | { 241 | Vector3 startPos = map.GetCellCenterWorld(new Vector3Int(start.x, start.y, 0)); 242 | startPos.x -= map.cellGap.x / 2f; 243 | startPos.y -= map.cellGap.y / 2f; 244 | GameObject unit = Instantiate(tilePrefab, new Vector3(startPos.x, startPos.y, 0), 245 | Quaternion.identity); 246 | 247 | Node waypoint = waypoints.Dequeue(); 248 | 249 | while(waypoints.Count != 0) 250 | { 251 | Vector3 nextWP = map.GetCellCenterWorld(new Vector3Int(waypoint.coord.x, waypoint.coord.y, 0)); 252 | nextWP.x -= map.cellGap.x / 2f; 253 | nextWP.y -= map.cellGap.y / 2f; 254 | 255 | while((nextWP - unit.transform.position).magnitude > 0.1f) 256 | { 257 | unit.transform.Translate((nextWP - unit.transform.position).normalized * Time.deltaTime 258 | * unitSpeed); 259 | 260 | yield return null; 261 | } 262 | 263 | waypoint = waypoints.Dequeue(); 264 | } 265 | 266 | GameObject.Destroy(unit); 267 | } 268 | 269 | [BurstCompile(CompileSynchronously = true)] 270 | public struct AStar : IJobParallelFor 271 | { 272 | [ReadOnly] public NativeHashMap isObstacle; 273 | [ReadOnly] public NativeArray offsets; 274 | [ReadOnly] public NativeArray startNative; 275 | [NativeDisableParallelForRestriction] public NativeMultiHashMap results; 276 | 277 | public Node start; 278 | public Node end; 279 | 280 | public int safeGuard; 281 | 282 | public void Execute(int r) 283 | { 284 | NativeHashMap openSet = new NativeHashMap(safeGuard, Allocator.Temp); 285 | NativeHashMap nodes = new NativeHashMap(safeGuard, Allocator.Temp); 286 | 287 | Node current = startNative[r]; 288 | current.gScore = 0; 289 | current.hScore = Distance(current.coord, end.coord); 290 | current.fScore = current.gScore + current.hScore; 291 | 292 | openSet.TryAdd(current.coord, current); 293 | 294 | int counter = 0; 295 | 296 | do 297 | { 298 | Node result = new Node(); 299 | float fScore = int.MaxValue; 300 | 301 | NativeArray nodeArray = openSet.GetValueArray(Allocator.Temp); 302 | 303 | for (int i = 0; i < nodeArray.Length; i++) 304 | { 305 | if (nodeArray[i].fScore < fScore) 306 | { 307 | result = nodeArray[i]; 308 | fScore = nodeArray[i].fScore; 309 | } 310 | } 311 | 312 | nodeArray.Dispose(); 313 | 314 | current = result; 315 | nodes.TryAdd(current.coord, current); 316 | 317 | for(int i = 0; i < offsets.Length; i++) 318 | { 319 | if (!nodes.ContainsKey(current.coord + offsets[i]) && 320 | !isObstacle.ContainsKey(current.coord + offsets[i])) 321 | { 322 | Node neighbour = new Node 323 | { 324 | coord = current.coord + offsets[i], 325 | parent = current.coord, 326 | gScore = current.gScore + 327 | Distance(current.coord, current.coord + offsets[i]), 328 | hScore = Distance(current.coord + offsets[i], end.coord) 329 | }; 330 | 331 | neighbour.fScore = neighbour.gScore + neighbour.hScore; 332 | 333 | if(openSet.ContainsKey(neighbour.coord) && neighbour.gScore < 334 | openSet[neighbour.coord].gScore) 335 | { 336 | openSet[neighbour.coord] = neighbour; 337 | } 338 | else if(!openSet.ContainsKey(neighbour.coord)) 339 | { 340 | openSet.TryAdd(neighbour.coord, neighbour); 341 | } 342 | } 343 | } 344 | 345 | openSet.Remove(current.coord); 346 | counter++; 347 | 348 | if (counter > safeGuard) 349 | break; 350 | 351 | } while (openSet.Count() != 0 && !current.coord.Equals(end.coord)); 352 | 353 | if(nodes.ContainsKey(end.coord)) 354 | { 355 | int2 currentCoord = end.coord; 356 | results.Add(startNative[r].coord, end); 357 | 358 | while(!currentCoord.Equals(startNative[r].coord)) 359 | { 360 | currentCoord = nodes[currentCoord].parent; 361 | results.Add(startNative[r].coord, nodes[currentCoord]); 362 | } 363 | } 364 | 365 | openSet.Dispose(); 366 | nodes.Dispose(); 367 | } 368 | 369 | public float Distance(int2 coordA, int2 coordB) 370 | { 371 | float a = coordB.x - coordA.x; 372 | float b = coordB.y - coordA.y; 373 | return Mathf.Sqrt(a * a + b * b); 374 | } 375 | } 376 | } 377 | -------------------------------------------------------------------------------- /Coderious_AStar/Assets/PFMulti.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2d4d5029b2186d94c928a4683dc8cfea 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Coderious_AStar/Assets/PFMultiWiki.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Tilemaps; 5 | using Unity.Mathematics; 6 | using Unity.Jobs; 7 | using Unity.Burst; 8 | using Unity.Collections; 9 | 10 | public class PFMultiWiki : MonoBehaviour 11 | { 12 | public struct Node 13 | { 14 | public int2 coord; 15 | public int2 parent; 16 | public float gScore; 17 | public float hScore; 18 | public float fScore; 19 | } 20 | 21 | Hashtable obstacles; 22 | Dictionary starts; 23 | Node end; 24 | int safeGuard = 1000; 25 | 26 | public Tilemap map; 27 | public Tile defaultTile; 28 | public Camera cam; 29 | 30 | float unitSpeed = 5f; 31 | public GameObject tilePreFab; 32 | 33 | 34 | // Start is called before the first frame update 35 | void Start() 36 | { 37 | obstacles = new Hashtable(); 38 | starts = new Dictionary(); 39 | end = new Node { coord = int2.zero, parent = int2.zero, gScore = float.MaxValue, hScore = float.MaxValue }; 40 | } 41 | 42 | // Update is called once per frame 43 | void Update() 44 | { 45 | if (Input.GetKey(KeyCode.LeftShift) && Input.GetMouseButtonDown(0)) 46 | { 47 | PlaceStart(); 48 | } 49 | 50 | if (Input.GetKey(KeyCode.LeftControl) && Input.GetMouseButtonDown(0)) 51 | { 52 | PlaceEnd(); 53 | } 54 | 55 | if (Input.GetMouseButtonDown(0) && 56 | !Input.GetKey(KeyCode.LeftShift) && !Input.GetKey(KeyCode.LeftControl)) 57 | { 58 | PlaceObstacle(); 59 | } 60 | 61 | if (Input.GetKeyDown(KeyCode.Space)) 62 | { 63 | ClearTiles(); 64 | 65 | float startTime = Time.realtimeSinceStartup; 66 | 67 | FindPath(); 68 | 69 | float endTime = Time.realtimeSinceStartup; 70 | Debug.Log(endTime - startTime); 71 | } 72 | 73 | } 74 | 75 | void ClearTiles() 76 | { 77 | map.ClearAllTiles(); 78 | 79 | foreach (int2 s in starts.Keys) 80 | { 81 | Vector3Int start = new Vector3Int(s.x, s.y, 0); 82 | map.SetTile(start, defaultTile); 83 | map.SetTileFlags(start, TileFlags.None); 84 | map.SetColor(start, Color.green); 85 | } 86 | 87 | Vector3Int _end = new Vector3Int(end.coord.x, end.coord.y, 0); 88 | map.SetTile(_end, defaultTile); 89 | map.SetTileFlags(_end, TileFlags.None); 90 | map.SetColor(_end, Color.red); 91 | 92 | foreach (int2 o in obstacles.Keys) 93 | { 94 | Vector3Int obstacle = new Vector3Int(o.x, o.y, 0); 95 | map.SetTile(obstacle, defaultTile); 96 | map.SetTileFlags(obstacle, TileFlags.None); 97 | map.SetColor(obstacle, Color.black); 98 | } 99 | } 100 | 101 | void PlaceStart() 102 | { 103 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 104 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 105 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 106 | 107 | if (starts.ContainsKey(coord) && !coord.Equals(end.coord)) 108 | { 109 | map.SetTile(new Vector3Int(coord.x, coord.y, 0), null); 110 | starts.Remove(coord); 111 | } 112 | else if (!obstacles.ContainsKey(coord) && !coord.Equals(end.coord)) 113 | { 114 | Node startNode = new Node { coord = coord, parent = int2.zero, gScore = float.MaxValue, hScore = float.MaxValue }; 115 | 116 | starts.Add(coord, startNode); 117 | map.SetTile(mouseCell, defaultTile); 118 | map.SetTileFlags(mouseCell, TileFlags.None); 119 | map.SetColor(mouseCell, Color.green); 120 | } 121 | } 122 | 123 | void PlaceEnd() 124 | { 125 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 126 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 127 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 128 | 129 | if (!obstacles.ContainsKey(coord) && !starts.ContainsKey(coord)) 130 | { 131 | map.SetTile(new Vector3Int(end.coord.x, end.coord.y, 0), null); 132 | 133 | end.coord = coord; 134 | map.SetTile(mouseCell, defaultTile); 135 | map.SetTileFlags(mouseCell, TileFlags.None); 136 | map.SetColor(mouseCell, Color.red); 137 | } 138 | } 139 | 140 | void PlaceObstacle() 141 | { 142 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 143 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 144 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 145 | 146 | if (obstacles.ContainsKey(coord)) 147 | { 148 | map.SetTile(new Vector3Int(coord.x, coord.y, 0), null); 149 | obstacles.Remove(coord); 150 | } 151 | else if (!starts.ContainsKey(coord) && !coord.Equals(end.coord)) 152 | { 153 | obstacles.Add(coord, true); 154 | map.SetTile(mouseCell, defaultTile); 155 | map.SetTileFlags(mouseCell, TileFlags.None); 156 | map.SetColor(mouseCell, Color.black); 157 | } 158 | } 159 | 160 | public void FindPath() 161 | { 162 | NativeHashMap isObstacle = 163 | new NativeHashMap(obstacles.Count, Allocator.TempJob); 164 | NativeArray offsets = new NativeArray(8, Allocator.TempJob); 165 | NativeArray nativeStarts = 166 | new NativeArray(starts.Count, Allocator.TempJob); 167 | NativeMultiHashMap resultList = new NativeMultiHashMap((starts.Count) * safeGuard, Allocator.TempJob); 168 | 169 | foreach (int2 o in obstacles.Keys) 170 | { 171 | isObstacle.Add(o, true); 172 | } 173 | 174 | int counter = 0; 175 | 176 | foreach (Node n in starts.Values) 177 | { 178 | nativeStarts[counter] = n; 179 | counter++; 180 | } 181 | 182 | offsets[0] = new int2(0, 1); 183 | offsets[1] = new int2(1, 1); 184 | offsets[2] = new int2(1, 0); 185 | offsets[3] = new int2(1, -1); 186 | offsets[4] = new int2(0, -1); 187 | offsets[5] = new int2(-1, -1); 188 | offsets[6] = new int2(-1, 0); 189 | offsets[7] = new int2(-1, 1); 190 | 191 | AStar aStar = new AStar 192 | { 193 | isObstacle = isObstacle, 194 | offsets = offsets, 195 | starts = nativeStarts, 196 | resultList = resultList, 197 | end = end, 198 | safeGuard = safeGuard, 199 | }; 200 | 201 | JobHandle handle = aStar.Schedule(starts.Count, 16); 202 | handle.Complete(); 203 | 204 | NativeKeyValueArrays keyValueArray = resultList.GetKeyValueArrays(Allocator.Temp); 205 | Dictionary> paths = new Dictionary>(); 206 | 207 | for (int i = 0; i < keyValueArray.Keys.Length; i++) 208 | { 209 | if (!paths.ContainsKey(keyValueArray.Keys[i])) 210 | { 211 | paths.Add(keyValueArray.Keys[i], new Queue()); 212 | paths[keyValueArray.Keys[i]].Enqueue(keyValueArray.Values[i]); 213 | } 214 | else 215 | { 216 | paths[keyValueArray.Keys[i]].Enqueue(keyValueArray.Values[i]); 217 | } 218 | } 219 | 220 | foreach (int2 start in paths.Keys) 221 | { 222 | StartCoroutine(MoveUnitCoroutine(start, paths[start])); 223 | } 224 | 225 | isObstacle.Dispose(); 226 | offsets.Dispose(); 227 | nativeStarts.Dispose(); 228 | resultList.Dispose(); 229 | } 230 | 231 | IEnumerator MoveUnitCoroutine(int2 start, Queue path) 232 | { 233 | Node n = path.Dequeue(); 234 | 235 | Vector3 startPos = map.GetCellCenterWorld(new Vector3Int(start.x, start.y, 0)); 236 | GameObject unit = Instantiate(tilePreFab, new Vector3(startPos.x - map.cellGap.x / 2f, startPos.y - map.cellGap.y / 2f, 0), Quaternion.identity); 237 | 238 | while (path.Count != 0) 239 | { 240 | Vector3 nextPos = map.GetCellCenterWorld(new Vector3Int(n.coord.x, n.coord.y, 0)); 241 | nextPos.x -= map.cellGap.x / 2f; 242 | nextPos.y -= map.cellGap.y / 2f; 243 | 244 | while ((nextPos - unit.transform.position).magnitude > 0.1f) 245 | { 246 | unit.transform.Translate((nextPos - unit.transform.position).normalized * Time.deltaTime * unitSpeed); 247 | 248 | yield return null; 249 | } 250 | 251 | n = path.Dequeue(); 252 | } 253 | 254 | Destroy(unit); 255 | } 256 | 257 | [BurstCompile(CompileSynchronously = true)] 258 | public struct AStar : IJobParallelFor 259 | { 260 | [ReadOnly] public NativeHashMap isObstacle; 261 | [ReadOnly] public NativeArray starts; 262 | [ReadOnly] public NativeArray offsets; 263 | [NativeDisableParallelForRestriction] public NativeMultiHashMap resultList; 264 | 265 | public Node end; 266 | public int safeGuard; 267 | 268 | public void Execute(int r) 269 | { 270 | NativeHashMap openSet = new NativeHashMap(safeGuard, Allocator.Temp); 271 | NativeHashMap nodes = new NativeHashMap(safeGuard, Allocator.Temp); 272 | 273 | Node current = starts[r]; 274 | 275 | current.gScore = 0; 276 | current.hScore = Distance(current.coord, end.coord); 277 | current.fScore = current.gScore + current.hScore; 278 | 279 | openSet.TryAdd(current.coord, current); 280 | 281 | int counter = 0; 282 | 283 | while (openSet.Count() != 0 && !end.coord.Equals(current.coord)) 284 | { 285 | Node result = new Node(); 286 | float fScore = float.MaxValue; 287 | 288 | NativeArray nodeArray = openSet.GetValueArray(Allocator.Temp); 289 | 290 | for (int i = 0; i < nodeArray.Length; i++) 291 | { 292 | if (nodeArray[i].fScore <= fScore) 293 | { 294 | result = nodeArray[i]; 295 | fScore = nodeArray[i].fScore; 296 | } 297 | } 298 | 299 | nodeArray.Dispose(); 300 | 301 | current = openSet[result.coord]; 302 | openSet.Remove(current.coord); 303 | 304 | for (int i = 0; i < offsets.Length; i++) 305 | { 306 | if (!isObstacle.ContainsKey(current.coord + offsets[i])) 307 | { 308 | Node neighbour = new Node 309 | { 310 | coord = current.coord + offsets[i], 311 | parent = current.coord, 312 | gScore = current.gScore + 313 | Distance(current.coord, current.coord + offsets[i]), 314 | hScore = Distance(current.coord + offsets[i], end.coord) 315 | }; 316 | 317 | neighbour.fScore = neighbour.gScore + neighbour.hScore; 318 | 319 | if (!nodes.TryAdd(neighbour.coord, neighbour)) 320 | { 321 | if (neighbour.gScore <= nodes[neighbour.coord].gScore) 322 | { 323 | nodes.Remove(neighbour.coord); 324 | nodes.TryAdd(neighbour.coord, neighbour); 325 | } 326 | } 327 | 328 | if (neighbour.gScore <= nodes[neighbour.coord].gScore) 329 | { 330 | openSet.TryAdd(neighbour.coord, neighbour); 331 | } 332 | } 333 | } 334 | 335 | counter++; 336 | 337 | if (counter > safeGuard) 338 | break; 339 | 340 | } 341 | 342 | //copy solution in result list in case a solution is found 343 | if (nodes.ContainsKey(end.coord)) 344 | { 345 | int2 currentCoord = end.coord; 346 | resultList.Add(starts[r].coord, end); 347 | 348 | while (!currentCoord.Equals(starts[r].coord)) 349 | { 350 | currentCoord = nodes[currentCoord].parent; 351 | resultList.Add(starts[r].coord, nodes[currentCoord]); 352 | } 353 | } 354 | 355 | openSet.Dispose(); 356 | nodes.Dispose(); 357 | } 358 | 359 | public float Distance(int2 coordA, int2 coordB) 360 | { 361 | float a = coordB.x - coordA.x; 362 | float b = coordB.y - coordA.y; 363 | 364 | return Mathf.Sqrt(a * a + b * b); 365 | } 366 | } 367 | } 368 | -------------------------------------------------------------------------------- /Coderious_AStar/Assets/PFMultiWiki.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: efee911edc4d6894eb9582e2eb185b7d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Coderious_AStar/Assets/PFWiki.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Tilemaps; 5 | using Unity.Mathematics; 6 | using Unity.Jobs; 7 | using Unity.Burst; 8 | using Unity.Collections; 9 | 10 | public class PFWiki : MonoBehaviour 11 | { 12 | 13 | public struct Node 14 | { 15 | public int2 coord; 16 | public int2 parent; 17 | public float gScore; 18 | public float hScore; 19 | public float fScore; 20 | } 21 | 22 | Hashtable obstacles; 23 | Node start, end; 24 | int safeGuard = 1000; 25 | 26 | public Tilemap map; 27 | public Tile defaultTile; 28 | public Camera cam; 29 | 30 | 31 | // Start is called before the first frame update 32 | void Start() 33 | { 34 | obstacles = new Hashtable(); 35 | start = new Node { coord = int2.zero, parent = int2.zero, gScore = float.MaxValue, hScore = float.MaxValue }; 36 | end = new Node { coord = int2.zero, parent = int2.zero, gScore = float.MaxValue, hScore = float.MaxValue }; 37 | } 38 | 39 | // Update is called once per frame 40 | void Update() 41 | { 42 | if (Input.GetKey(KeyCode.LeftShift) && Input.GetMouseButtonDown(0)) 43 | { 44 | PlaceStart(); 45 | } 46 | 47 | if (Input.GetKey(KeyCode.LeftControl) && Input.GetMouseButtonDown(0)) 48 | { 49 | PlaceEnd(); 50 | } 51 | 52 | if (Input.GetMouseButtonDown(0) && 53 | !Input.GetKey(KeyCode.LeftShift) && !Input.GetKey(KeyCode.LeftControl)) 54 | { 55 | PlaceObstacle(); 56 | } 57 | 58 | if (Input.GetKeyDown(KeyCode.Space)) 59 | { 60 | ClearTiles(); 61 | 62 | float startTime = Time.realtimeSinceStartup; 63 | 64 | FindPath(); 65 | 66 | float endTime = Time.realtimeSinceStartup; 67 | Debug.Log(endTime - startTime); 68 | } 69 | 70 | } 71 | 72 | void ClearTiles() 73 | { 74 | map.ClearAllTiles(); 75 | 76 | Vector3Int _start = new Vector3Int(start.coord.x, start.coord.y, 0); 77 | map.SetTile(_start, defaultTile); 78 | map.SetTileFlags(_start, TileFlags.None); 79 | map.SetColor(_start, Color.green); 80 | 81 | Vector3Int _end = new Vector3Int(end.coord.x, end.coord.y, 0); 82 | map.SetTile(_end, defaultTile); 83 | map.SetTileFlags(_end, TileFlags.None); 84 | map.SetColor(_end, Color.red); 85 | 86 | foreach (int2 o in obstacles.Keys) 87 | { 88 | Vector3Int obstacle = new Vector3Int(o.x, o.y, 0); 89 | map.SetTile(obstacle, defaultTile); 90 | map.SetTileFlags(obstacle, TileFlags.None); 91 | map.SetColor(obstacle, Color.black); 92 | } 93 | } 94 | 95 | void PlaceStart() 96 | { 97 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 98 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 99 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 100 | 101 | if (!obstacles.ContainsKey(coord) && !coord.Equals(end.coord)) 102 | { 103 | map.SetTile(new Vector3Int(start.coord.x, start.coord.y, 0), null); 104 | 105 | start.coord = coord; 106 | map.SetTile(mouseCell, defaultTile); 107 | map.SetTileFlags(mouseCell, TileFlags.None); 108 | map.SetColor(mouseCell, Color.green); 109 | } 110 | } 111 | 112 | void PlaceEnd() 113 | { 114 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 115 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 116 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 117 | 118 | if (!obstacles.ContainsKey(coord) && !coord.Equals(start.coord)) 119 | { 120 | map.SetTile(new Vector3Int(end.coord.x, end.coord.y, 0), null); 121 | 122 | end.coord = coord; 123 | map.SetTile(mouseCell, defaultTile); 124 | map.SetTileFlags(mouseCell, TileFlags.None); 125 | map.SetColor(mouseCell, Color.red); 126 | } 127 | 128 | } 129 | 130 | void PlaceObstacle() 131 | { 132 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 133 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 134 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 135 | 136 | if (obstacles.ContainsKey(coord)) 137 | { 138 | map.SetTile(new Vector3Int(coord.x, coord.y, 0), null); 139 | obstacles.Remove(coord); 140 | } 141 | else if (!coord.Equals(start.coord) && !coord.Equals(end.coord)) 142 | { 143 | obstacles.Add(coord, true); 144 | map.SetTile(mouseCell, defaultTile); 145 | map.SetTileFlags(mouseCell, TileFlags.None); 146 | map.SetColor(mouseCell, Color.black); 147 | } 148 | } 149 | 150 | public void FindPath() 151 | { 152 | NativeHashMap isObstacle = 153 | new NativeHashMap(obstacles.Count, Allocator.TempJob); 154 | NativeHashMap nodes = 155 | new NativeHashMap(safeGuard, Allocator.TempJob); 156 | NativeHashMap openSet = 157 | new NativeHashMap(safeGuard, Allocator.TempJob); 158 | NativeArray offsets = new NativeArray(8, Allocator.TempJob); 159 | 160 | foreach (int2 o in obstacles.Keys) 161 | { 162 | isObstacle.Add(o, true); 163 | } 164 | 165 | AStar aStar = new AStar 166 | { 167 | isObstacle = isObstacle, 168 | offsets = offsets, 169 | nodes = nodes, 170 | openSet = openSet, 171 | start = start, 172 | end = end, 173 | safeGuard = safeGuard 174 | }; 175 | 176 | JobHandle handle = aStar.Schedule(); 177 | handle.Complete(); 178 | 179 | NativeArray nodeArray = nodes.GetValueArray(Allocator.TempJob); 180 | 181 | for (int i = 0; i < nodeArray.Length; i++) 182 | { 183 | Vector3Int currentNode = new Vector3Int(nodeArray[i].coord.x, 184 | nodeArray[i].coord.y, 0); 185 | 186 | if (!start.coord.Equals(nodeArray[i].coord) && 187 | !end.coord.Equals(nodeArray[i].coord) && 188 | !obstacles.ContainsKey(nodeArray[i].coord)) 189 | { 190 | map.SetTile(currentNode, defaultTile); 191 | map.SetTileFlags(currentNode, TileFlags.None); 192 | map.SetColor(currentNode, Color.white); 193 | } 194 | } 195 | 196 | if (nodes.ContainsKey(end.coord)) 197 | { 198 | int2 currentCoord = end.coord; 199 | 200 | while (!currentCoord.Equals(start.coord)) 201 | { 202 | currentCoord = nodes[currentCoord].parent; 203 | Vector3Int currentTile = new Vector3Int(currentCoord.x, 204 | currentCoord.y, 0); 205 | 206 | map.SetTile(currentTile, defaultTile); 207 | map.SetTileFlags(currentTile, TileFlags.None); 208 | map.SetColor(currentTile, Color.green); 209 | } 210 | } 211 | 212 | nodes.Dispose(); 213 | openSet.Dispose(); 214 | isObstacle.Dispose(); 215 | offsets.Dispose(); 216 | nodeArray.Dispose(); 217 | } 218 | 219 | [BurstCompile(CompileSynchronously = true)] 220 | public struct AStar : IJob 221 | { 222 | public NativeHashMap isObstacle; 223 | public NativeHashMap nodes; 224 | public NativeHashMap openSet; 225 | public NativeArray offsets; 226 | 227 | public Node start; 228 | public Node end; 229 | 230 | public int safeGuard; 231 | 232 | public void Execute() 233 | { 234 | Node current = start; 235 | current.gScore = 0; 236 | current.hScore = SquaredDistance(current.coord, end.coord); 237 | current.fScore = current.gScore + current.hScore; 238 | 239 | openSet.TryAdd(current.coord, current); 240 | 241 | offsets[0] = new int2(0, 1); 242 | offsets[1] = new int2(1, 1); 243 | offsets[2] = new int2(1, 0); 244 | offsets[3] = new int2(1, -1); 245 | offsets[4] = new int2(0, -1); 246 | offsets[5] = new int2(-1, -1); 247 | offsets[6] = new int2(-1, 0); 248 | offsets[7] = new int2(-1, 1); 249 | 250 | int counter = 0; 251 | 252 | while (openSet.Count() != 0) 253 | { 254 | current = openSet[ClosestNode()]; 255 | openSet.Remove(current.coord); 256 | 257 | for (int i = 0; i < offsets.Length; i++) 258 | { 259 | if (!isObstacle.ContainsKey(current.coord + offsets[i])) 260 | { 261 | Node neighbour = new Node 262 | { 263 | coord = current.coord + offsets[i], 264 | parent = current.coord, 265 | gScore = current.gScore + 266 | SquaredDistance(current.coord, current.coord + offsets[i]), 267 | hScore = SquaredDistance(current.coord + offsets[i], end.coord) 268 | }; 269 | 270 | neighbour.fScore = neighbour.gScore + neighbour.hScore; 271 | 272 | if (!nodes.TryAdd(neighbour.coord, neighbour)) 273 | { 274 | if (neighbour.gScore <= nodes[neighbour.coord].gScore) 275 | { 276 | nodes.Remove(neighbour.coord); 277 | nodes.TryAdd(neighbour.coord, neighbour); 278 | } 279 | } 280 | 281 | if (neighbour.gScore <= nodes[neighbour.coord].gScore) 282 | { 283 | openSet.TryAdd(neighbour.coord, neighbour); 284 | } 285 | } 286 | } 287 | 288 | counter++; 289 | 290 | if (counter > safeGuard) 291 | break; 292 | } 293 | } 294 | 295 | public float SquaredDistance(int2 coordA, int2 coordB) 296 | { 297 | float a = coordB.x - coordA.x; 298 | float b = coordB.y - coordA.y; 299 | return Mathf.Sqrt(a * a + b * b); 300 | } 301 | 302 | public int2 ClosestNode() 303 | { 304 | Node result = new Node(); 305 | float fScore = int.MaxValue; 306 | 307 | NativeArray nodeArray = openSet.GetValueArray(Allocator.Temp); 308 | 309 | for (int i = 0; i < nodeArray.Length; i++) 310 | { 311 | if (nodeArray[i].fScore <= fScore) 312 | { 313 | result = nodeArray[i]; 314 | fScore = nodeArray[i].fScore; 315 | } 316 | } 317 | 318 | nodeArray.Dispose(); 319 | return result.coord; 320 | } 321 | } 322 | } 323 | -------------------------------------------------------------------------------- /Coderious_AStar/Assets/PFWiki.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4c70826f14012bc479bf831f0b5f12f6 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Coderious_AStar/Assets/PathFinder.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Tilemaps; 5 | using Unity.Mathematics; 6 | using Unity.Jobs; 7 | using Unity.Burst; 8 | using Unity.Collections; 9 | 10 | public class Pathfinder : MonoBehaviour 11 | { 12 | 13 | public struct Node 14 | { 15 | public int2 coord; 16 | public int2 parent; 17 | public int gScore; 18 | public int hScore; 19 | } 20 | 21 | Hashtable obstacles; 22 | Node start, end; 23 | int safeGuard = 1000; 24 | 25 | public Tilemap map; 26 | public Tile defaultTile; 27 | public Camera cam; 28 | 29 | 30 | // Start is called before the first frame update 31 | void Start() 32 | { 33 | obstacles = new Hashtable(); 34 | start = new Node { coord = int2.zero, parent = int2.zero, gScore = int.MaxValue, hScore = int.MaxValue }; 35 | end = new Node { coord = int2.zero, parent = int2.zero, gScore = int.MaxValue, hScore = int.MaxValue }; 36 | } 37 | 38 | // Update is called once per frame 39 | void Update() 40 | { 41 | if (Input.GetKey(KeyCode.LeftShift) && Input.GetMouseButtonDown(0)) 42 | { 43 | PlaceStart(); 44 | } 45 | 46 | if (Input.GetKey(KeyCode.LeftControl) && Input.GetMouseButtonDown(0)) 47 | { 48 | PlaceEnd(); 49 | } 50 | 51 | if (Input.GetMouseButtonDown(0) && 52 | !Input.GetKey(KeyCode.LeftShift) && !Input.GetKey(KeyCode.LeftControl)) 53 | { 54 | PlaceObstacle(); 55 | } 56 | 57 | if (Input.GetKeyDown(KeyCode.Space)) 58 | { 59 | ClearTiles(); 60 | 61 | float startTime = Time.realtimeSinceStartup; 62 | 63 | FindPath(); 64 | 65 | float endTime = Time.realtimeSinceStartup; 66 | Debug.Log(endTime - startTime); 67 | } 68 | 69 | } 70 | 71 | void ClearTiles() 72 | { 73 | map.ClearAllTiles(); 74 | 75 | Vector3Int _start = new Vector3Int(start.coord.x, start.coord.y, 0); 76 | map.SetTile(_start, defaultTile); 77 | map.SetTileFlags(_start, TileFlags.None); 78 | map.SetColor(_start, Color.green); 79 | 80 | Vector3Int _end = new Vector3Int(end.coord.x, end.coord.y, 0); 81 | map.SetTile(_end, defaultTile); 82 | map.SetTileFlags(_end, TileFlags.None); 83 | map.SetColor(_end, Color.red); 84 | 85 | foreach (int2 o in obstacles.Keys) 86 | { 87 | Vector3Int obstacle = new Vector3Int(o.x, o.y, 0); 88 | map.SetTile(obstacle, defaultTile); 89 | map.SetTileFlags(obstacle, TileFlags.None); 90 | map.SetColor(obstacle, Color.black); 91 | } 92 | } 93 | 94 | void PlaceStart() 95 | { 96 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 97 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 98 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 99 | 100 | if (!obstacles.ContainsKey(coord) && !coord.Equals(end.coord)) 101 | { 102 | map.SetTile(new Vector3Int(start.coord.x, start.coord.y, 0), null); 103 | 104 | start.coord = coord; 105 | map.SetTile(mouseCell, defaultTile); 106 | map.SetTileFlags(mouseCell, TileFlags.None); 107 | map.SetColor(mouseCell, Color.green); 108 | } 109 | } 110 | 111 | void PlaceEnd() 112 | { 113 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 114 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 115 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 116 | 117 | if (!obstacles.ContainsKey(coord) && !coord.Equals(start.coord)) 118 | { 119 | map.SetTile(new Vector3Int(end.coord.x, end.coord.y, 0), null); 120 | 121 | end.coord = coord; 122 | map.SetTile(mouseCell, defaultTile); 123 | map.SetTileFlags(mouseCell, TileFlags.None); 124 | map.SetColor(mouseCell, Color.red); 125 | } 126 | 127 | } 128 | 129 | void PlaceObstacle() 130 | { 131 | Vector3 mouseWorldPos = cam.ScreenToWorldPoint(Input.mousePosition); 132 | Vector3Int mouseCell = map.WorldToCell(mouseWorldPos); 133 | int2 coord = new int2 { x = mouseCell.x, y = mouseCell.y }; 134 | 135 | if (obstacles.ContainsKey(coord)) 136 | { 137 | map.SetTile(new Vector3Int(coord.x, coord.y, 0), null); 138 | obstacles.Remove(coord); 139 | } 140 | else if (!coord.Equals(start.coord) && !coord.Equals(end.coord)) 141 | { 142 | obstacles.Add(coord, true); 143 | map.SetTile(mouseCell, defaultTile); 144 | map.SetTileFlags(mouseCell, TileFlags.None); 145 | map.SetColor(mouseCell, Color.black); 146 | } 147 | } 148 | 149 | public void FindPath() 150 | { 151 | NativeHashMap isObstacle = 152 | new NativeHashMap(obstacles.Count, Allocator.TempJob); 153 | NativeHashMap nodes = 154 | new NativeHashMap(safeGuard, Allocator.TempJob); 155 | NativeHashMap openSet = 156 | new NativeHashMap(safeGuard, Allocator.TempJob); 157 | NativeArray offsets = new NativeArray(8, Allocator.TempJob); 158 | 159 | foreach (int2 o in obstacles.Keys) 160 | { 161 | isObstacle.Add(o, true); 162 | } 163 | 164 | AStar aStar = new AStar 165 | { 166 | isObstacle = isObstacle, 167 | offsets = offsets, 168 | nodes = nodes, 169 | openSet = openSet, 170 | start = start, 171 | end = end, 172 | safeGuard = safeGuard 173 | }; 174 | 175 | JobHandle handle = aStar.Schedule(); 176 | handle.Complete(); 177 | 178 | NativeArray nodeArray = nodes.GetValueArray(Allocator.TempJob); 179 | 180 | for (int i = 0; i < nodeArray.Length; i++) 181 | { 182 | Vector3Int currentNode = new Vector3Int(nodeArray[i].coord.x, 183 | nodeArray[i].coord.y, 0); 184 | 185 | if (!start.coord.Equals(nodeArray[i].coord) && 186 | !end.coord.Equals(nodeArray[i].coord) && 187 | !obstacles.ContainsKey(nodeArray[i].coord)) 188 | { 189 | map.SetTile(currentNode, defaultTile); 190 | map.SetTileFlags(currentNode, TileFlags.None); 191 | map.SetColor(currentNode, Color.white); 192 | } 193 | } 194 | 195 | if (nodes.ContainsKey(end.coord)) 196 | { 197 | int2 currentCoord = end.coord; 198 | 199 | while (!currentCoord.Equals(start.coord)) 200 | { 201 | currentCoord = nodes[currentCoord].parent; 202 | Vector3Int currentTile = new Vector3Int(currentCoord.x, 203 | currentCoord.y, 0); 204 | 205 | map.SetTile(currentTile, defaultTile); 206 | map.SetTileFlags(currentTile, TileFlags.None); 207 | map.SetColor(currentTile, Color.green); 208 | } 209 | } 210 | 211 | nodes.Dispose(); 212 | openSet.Dispose(); 213 | isObstacle.Dispose(); 214 | offsets.Dispose(); 215 | nodeArray.Dispose(); 216 | } 217 | 218 | [BurstCompile(CompileSynchronously = true)] 219 | public struct AStar : IJob 220 | { 221 | public NativeHashMap isObstacle; 222 | public NativeHashMap nodes; 223 | public NativeHashMap openSet; 224 | public NativeArray offsets; 225 | 226 | public Node start; 227 | public Node end; 228 | 229 | public int safeGuard; 230 | 231 | public void Execute() 232 | { 233 | Node current = start; 234 | current.gScore = 0; 235 | current.hScore = SquaredDistance(current.coord, end.coord); 236 | openSet.TryAdd(current.coord, current); 237 | 238 | offsets[0] = new int2(0, 1); 239 | offsets[1] = new int2(1, 1); 240 | offsets[2] = new int2(1, 0); 241 | offsets[3] = new int2(1, -1); 242 | offsets[4] = new int2(0, -1); 243 | offsets[5] = new int2(-1, -1); 244 | offsets[6] = new int2(-1, 0); 245 | offsets[7] = new int2(-1, 1); 246 | 247 | int counter = 0; 248 | 249 | do 250 | { 251 | current = openSet[ClosestNode()]; 252 | nodes.TryAdd(current.coord, current); 253 | 254 | for (int i = 0; i < offsets.Length; i++) 255 | { 256 | if (!nodes.ContainsKey(current.coord + offsets[i]) && 257 | !isObstacle.ContainsKey(current.coord + offsets[i])) 258 | { 259 | Node neighbour = new Node 260 | { 261 | coord = current.coord + offsets[i], 262 | parent = current.coord, 263 | gScore = current.gScore + 264 | SquaredDistance(current.coord, current.coord + offsets[i]), 265 | hScore = SquaredDistance(current.coord + offsets[i], end.coord) 266 | }; 267 | 268 | if (openSet.ContainsKey(neighbour.coord) && neighbour.gScore < 269 | openSet[neighbour.coord].gScore) 270 | { 271 | openSet[neighbour.coord] = neighbour; 272 | } 273 | else if (!openSet.ContainsKey(neighbour.coord)) 274 | { 275 | openSet.TryAdd(neighbour.coord, neighbour); 276 | } 277 | } 278 | } 279 | 280 | openSet.Remove(current.coord); 281 | counter++; 282 | 283 | if (counter > safeGuard) 284 | break; 285 | 286 | } while (openSet.Count() != 0 && !current.coord.Equals(end.coord)); 287 | } 288 | 289 | public int SquaredDistance(int2 coordA, int2 coordB) 290 | { 291 | int a = coordB.x - coordA.x; 292 | int b = coordB.y - coordA.y; 293 | return a * a + b * b; 294 | } 295 | 296 | public int2 ClosestNode() 297 | { 298 | Node result = new Node(); 299 | int fScore = int.MaxValue; 300 | 301 | NativeArray nodeArray = 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-------------------------------------------------------------------------------- 1 | 2 | === Tue Apr 20 22:42:52 2021 3 | 4 | Packages were changed. 5 | Update Mode: mergeDefaultDependencies 6 | 7 | The following packages were added: 8 | com.unity.collab-proxy@1.2.16 9 | com.unity.ide.rider@1.1.4 10 | com.unity.ide.vscode@1.2.3 11 | com.unity.modules.ai@1.0.0 12 | com.unity.modules.androidjni@1.0.0 13 | com.unity.modules.animation@1.0.0 14 | com.unity.modules.assetbundle@1.0.0 15 | com.unity.modules.audio@1.0.0 16 | com.unity.modules.cloth@1.0.0 17 | com.unity.modules.director@1.0.0 18 | com.unity.modules.imageconversion@1.0.0 19 | com.unity.modules.imgui@1.0.0 20 | com.unity.modules.jsonserialize@1.0.0 21 | com.unity.modules.particlesystem@1.0.0 22 | com.unity.modules.physics@1.0.0 23 | com.unity.modules.physics2d@1.0.0 24 | com.unity.modules.screencapture@1.0.0 25 | com.unity.modules.terrain@1.0.0 26 | com.unity.modules.terrainphysics@1.0.0 27 | com.unity.modules.tilemap@1.0.0 28 | com.unity.modules.ui@1.0.0 29 | com.unity.modules.uielements@1.0.0 30 | com.unity.modules.umbra@1.0.0 31 | com.unity.modules.unityanalytics@1.0.0 32 | com.unity.modules.unitywebrequest@1.0.0 33 | com.unity.modules.unitywebrequestassetbundle@1.0.0 34 | com.unity.modules.unitywebrequestaudio@1.0.0 35 | com.unity.modules.unitywebrequesttexture@1.0.0 36 | com.unity.modules.unitywebrequestwww@1.0.0 37 | com.unity.modules.vehicles@1.0.0 38 | com.unity.modules.video@1.0.0 39 | com.unity.modules.vr@1.0.0 40 | com.unity.modules.wind@1.0.0 41 | com.unity.modules.xr@1.0.0 42 | com.unity.test-framework@1.1.24 43 | com.unity.textmeshpro@2.1.4 44 | com.unity.timeline@1.2.18 45 | com.unity.ugui@1.0.0 46 | The following packages were updated: 47 | com.unity.2d.animation from version 3.2.4 to 3.2.6 48 | com.unity.2d.pixel-perfect from version 2.0.4 to 2.1.0 49 | com.unity.2d.psdimporter from version 2.1.5 to 2.1.6 50 | com.unity.2d.spriteshape from version 3.0.13 to 3.0.15 51 | 52 | === Sun Apr 25 16:49:41 2021 53 | 54 | Packages were changed. 55 | Update Mode: updateDependencies 56 | 57 | The following packages were updated: 58 | com.unity.ide.rider from version 1.1.4 to 1.2.1 59 | -------------------------------------------------------------------------------- /Coderious_AStar/Packages/manifest.json: -------------------------------------------------------------------------------- 1 | { 2 | "dependencies": { 3 | "com.unity.2d.animation": "3.2.6", 4 | "com.unity.2d.pixel-perfect": "2.1.0", 5 | "com.unity.2d.psdimporter": "2.1.6", 6 | "com.unity.2d.sprite": "1.0.0", 7 | "com.unity.2d.spriteshape": "3.0.15", 8 | "com.unity.2d.tilemap": "1.0.0", 9 | "com.unity.collab-proxy": "1.2.16", 10 | "com.unity.collections": "0.9.0-preview.6", 11 | "com.unity.ide.rider": "1.2.1", 12 | "com.unity.ide.vscode": "1.2.3", 13 | "com.unity.test-framework": "1.1.24", 14 | "com.unity.textmeshpro": "2.1.4", 15 | "com.unity.timeline": "1.2.18", 16 | "com.unity.ugui": "1.0.0", 17 | 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"m_SettingKeys": [ 3 | "VR Device Disabled", 4 | "VR Device User Alert" 5 | ], 6 | "m_SettingValues": [ 7 | "False", 8 | "False" 9 | ] 10 | } -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2021 Coderious-GitHub 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | --------------------------------------------------------------------------------