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sewmina7@gmail.com 2023-11-28 11:29:52 +05:30
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# This .gitignore file should be placed at the root of your Unity project directory
#
# Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore
#
/[Ll]ibrary/
/[Tt]emp/
/[Oo]bj/
/[Bb]uild/
/[Bb]uilds/
/[Ll]ogs/
/[Uu]ser[Ss]ettings/
# MemoryCaptures can get excessive in size.
# They also could contain extremely sensitive data
/[Mm]emoryCaptures/
# Recordings can get excessive in size
/[Rr]ecordings/
# Uncomment this line if you wish to ignore the asset store tools plugin
# /[Aa]ssets/AssetStoreTools*
# Autogenerated Jetbrains Rider plugin
/[Aa]ssets/Plugins/Editor/JetBrains*
# Visual Studio cache directory
.vs/
# Gradle cache directory
.gradle/
# Autogenerated VS/MD/Consulo solution and project files
ExportedObj/
.consulo/
*.csproj
*.unityproj
*.sln
*.suo
*.tmp
*.user
*.userprefs
*.pidb
*.booproj
*.svd
*.pdb
*.mdb
*.opendb
*.VC.db
# Unity3D generated meta files
*.pidb.meta
*.pdb.meta
*.mdb.meta
# Unity3D generated file on crash reports
sysinfo.txt
# Builds
*.apk
*.aab
*.unitypackage
*.app
# Crashlytics generated file
crashlytics-build.properties
# Packed Addressables
/[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin*
# Temporary auto-generated Android Assets
/[Aa]ssets/[Ss]treamingAssets/aa.meta
/[Aa]ssets/[Ss]treamingAssets/aa/*

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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class NodeData : MonoBehaviour
{
public float fCost =0;
public float gCost = 0;
public float hCost =0;
public Vertex parent;
public void Reset(){
fCost = 0;
gCost =0;
hCost = 0;
parent=null;
}
}

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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class PathWalker : MonoBehaviour
{
public List<Transform> pathNodes = new List<Transform>();
public int curIndex = 0;
void Update(){
if(pathNodes.Count < 2){return;}
if(curIndex < pathNodes.Count){
if(Vector2.Distance(pathNodes[curIndex].position, transform.position) > 0.1f){
//Move Towards node
transform.position += (pathNodes[curIndex].position - transform.position).normalized * Time.deltaTime * 2f;
}else{
curIndex++;
}
}
}
}

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using System.Collections;
using System.Collections.Generic;
using UnityEditor;
using UnityEngine;
public class Vertex : MonoBehaviour
{
public bool isSelected;
public List<Vertex> neighbours;
public Vertex assignNeighbour;
[EasyButtons.Button]
void bindSelected(){
bindSelected();
}
[EasyButtons.Button]
void addNeighbour(){
AddNeighbour();
}
[MenuItem("Vertex/bind_selected #b")]
static void bind_selected()
{
List<Vertex> selectedVerticies = new List<Vertex>();
foreach (Object obj in Selection.objects)
{
try
{
selectedVerticies.Add(((GameObject)obj).GetComponent<Vertex>());
}
catch
{
}
}
foreach (Vertex vertex in selectedVerticies)
{
foreach (Vertex newNeighbour in selectedVerticies)
{
if (newNeighbour == vertex) { continue; }
if (!vertex.neighbours.Contains(newNeighbour)) { vertex.neighbours.Add(newNeighbour); }
if (!newNeighbour.neighbours.Contains(vertex)) { newNeighbour.neighbours.Add(vertex); }
}
}
}
[MenuItem("Vertex/unbind_selected #u")]
static void unbind_selected()
{
List<Vertex> selectedVerticies = new List<Vertex>();
foreach (Object obj in Selection.objects)
{
try
{
selectedVerticies.Add(((GameObject)obj).GetComponent<Vertex>());
}
catch
{
}
}
foreach (Vertex vertex in selectedVerticies)
{
foreach (Vertex newNeighbour in selectedVerticies)
{
if (newNeighbour == vertex) { continue; }
if (vertex.neighbours.Contains(newNeighbour)) { vertex.neighbours.Remove(newNeighbour); }
if (newNeighbour.neighbours.Contains(vertex)) { newNeighbour.neighbours.Remove(vertex); }
}
}
}
[MenuItem("Vertex/add_neighbour #e")]
static void AddNeighbour()
{
List<Vertex> selectedVerticies = new List<Vertex>();
foreach (Object obj in Selection.objects)
{
Debug.Log(obj.name);
try
{
selectedVerticies.Add(((GameObject)obj).GetComponent<Vertex>());
}
catch
{
}
}
if (selectedVerticies.Count == 1)
{
GameObject go = Instantiate(selectedVerticies[0].gameObject, selectedVerticies[0].transform.position, Quaternion.identity);
if (selectedVerticies[0].neighbours == null) { selectedVerticies[0].neighbours = new List<Vertex>(); }
selectedVerticies[0].neighbours.Add(go.GetComponent<Vertex>());
go.GetComponent<Vertex>().neighbours = new List<Vertex>();
go.GetComponent<Vertex>().neighbours.Add(selectedVerticies[0]);
go.transform.parent = selectedVerticies[0].transform.parent;
go.transform.name = selectedVerticies[0].transform.name;
UnityEditor.Selection.activeGameObject = go;
}
else if (selectedVerticies.Count > 1)
{
Object[] selections = new Object[selectedVerticies.Count];
for (int i = 0; i < selectedVerticies.Count; i++)
{
GameObject go = Instantiate(selectedVerticies[i].gameObject, selectedVerticies[i].transform.position, Quaternion.identity);
if (selectedVerticies[i].neighbours == null) { selectedVerticies[i].neighbours = new List<Vertex>(); }
selectedVerticies[i].neighbours.Add(go.GetComponent<Vertex>());
go.GetComponent<Vertex>().neighbours = new List<Vertex>();
go.GetComponent<Vertex>().neighbours.Add(selectedVerticies[i]);
go.transform.parent = selectedVerticies[i].transform.parent;
go.transform.name = selectedVerticies[i].transform.name;
selections[i] = go;
}
Selection.objects = selections;
}
else
{
Debug.LogError("Please select single vertex to add new neighbour!");
}
}
void Start()
{
}
// Update is called once per frame
void Update()
{
}
void OnDrawGizmos()
{
isSelected = false;
foreach (Object obj in UnityEditor.Selection.objects)
{
if ((GameObject)obj == gameObject)
{
isSelected = true;
break;
}
}
Gizmos.color = (isSelected) ? Color.green : Color.red;
Gizmos.DrawSphere(transform.position, 0.1f);
foreach (Vertex neighbour in neighbours)
{
if (neighbour == null)
{
neighbours.Remove(neighbour);
}
if (!neighbour.neighbours.Contains(this))
{
neighbour.neighbours.Add(this);
}
Gizmos.color = (isSelected || neighbour.isSelected) ? Color.green : Color.red; Gizmos.DrawLine(transform.position, neighbour.transform.position);
}
}
void OnValidate()
{
if (assignNeighbour != null)
{
if (!neighbours.Contains(assignNeighbour)) { neighbours.Add(assignNeighbour); }
if (!assignNeighbour.neighbours.Contains(this)) { assignNeighbour.neighbours.Add(this); }
assignNeighbour = null;
}
}
}

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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class astar : MonoBehaviour
{
[Header("Grid Information")]
public int cellDensity = 1;
public float width;
public float height;
public Color gridBoundsVisualizeColor = Color.red;
public GameObject cellGameObject;
public Transform cellsParent;
public cellData[,] cells;
public cellData targetCell;
public cellData startCell;
void Start()
{
StartCoroutine(generateCells());
}
IEnumerator generateCells(){
//Generate cells in grid
float cellSize = cellGameObject.transform.localScale.x / (float)cellDensity;
Vector2 cellStartPosition = new Vector2( transform.position.x - width /2f, transform.position.y - height /2f)
+ new Vector2(cellSize/2f, cellSize/2f);
int horizontalCellCount = (int)(width / cellSize);
int verticalCellCount = (int)(height / cellSize);
cells = new cellData[horizontalCellCount,verticalCellCount];
// cellData[,] cellMatrix = new cellData[horizontalCellCount, verticalCellCount];
for(int x= 0; x < horizontalCellCount; x++){
for(int y = 0; y < verticalCellCount; y++){
Vector2 cellSpawnPos = cellStartPosition + new Vector2(cellSize * x, cellSize *y );
GameObject cell = Instantiate(cellGameObject, cellSpawnPos , Quaternion.identity);
cell.transform.localScale = cell.transform.localScale / (float)cellDensity;
cell.GetComponent<cellData>().x = x;
cell.GetComponent<cellData>().y = y;
cell.transform.parent = cellsParent;
cell.transform.name = "cell["+x+","+y+"]";
//isObstacle?
cell.GetComponent<cellData>().setObstacle(Physics2D.BoxCast(cell.transform.position, cell.transform.localScale/2f, 0 ,Vector2.zero));
//cell.GetComponent<cellData>().setObstacle(Physics2D.CircleCast(cellSpawnPos,cellSize /2f,Vector2.zero));
//cells.Add(cell.GetComponent<cellData>());
cells[x,y] = cell.GetComponent<cellData>();
yield return new WaitForEndOfFrame();
}
}
//Add neighbours
for(int x= 0; x < horizontalCellCount; x++){
for(int y = 0; y < verticalCellCount; y++){
for(int h = -1; h <= 1; h++){
for(int v = -1; v <= 1; v++){
if(h == 0 && v ==0){continue;}//I'm not a neighbour of me right?
int targetX = x + h;
int targetY = y + v;
if(targetY <0 || targetY > verticalCellCount-1 || targetX < 0 || targetX > horizontalCellCount-1){continue;}
if(cells[targetX,targetY].isObstacle){continue;}
cells[x,y].neighbours.Add(cells[targetX,targetY]);
}
}
}
}
}
// Update is called once per frame
Coroutine calculator = null;
void Update()
{
if(Input.GetKeyDown(KeyCode.E)){
Vector2 worldPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
cellData closestCell = getClosestCell(worldPos);
if(startCell!=null){startCell.setObstacle(startCell.isObstacle);}
startCell = closestCell;
startCell.GetComponent<SpriteRenderer>().color = Color.green;
}else if(Input.GetKeyDown(KeyCode.F)){
Vector2 worldPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
if(targetCell!=null){targetCell.setObstacle(targetCell.isObstacle);}
cellData closestCell = getClosestCell(worldPos);
targetCell = closestCell;
targetCell.GetComponent<SpriteRenderer>().color = Color.blue;
}else if(Input.GetKeyDown(KeyCode.Return)){
if(calculator != null){StopCoroutine(calculator); resetCellsCost();}
Debug.Log("Starting calculation");
calculator = StartCoroutine(Calculate());
}
}
public cellData getClosestCell(Vector2 worldPos){
float minDist = Mathf.Infinity;
cellData closestCell = null;
foreach(cellData cell in cells){
if(cell.isObstacle){continue;}
float DistToCell = Vector3.Distance(worldPos, cell.transform.position);
if(DistToCell < minDist){
minDist = DistToCell;
closestCell = cell;
}
}
return closestCell;
}
void OnDrawGizmos(){
//Gizmos.Color = gridBoundsVisualizeColor;
Gizmos.color = gridBoundsVisualizeColor;
Gizmos.DrawWireCube(transform.position, new Vector3(width, height, 0));
}
List<cellData> calculatedCells = new List<cellData>();
List<cellData> openCells = new List<cellData>();
IEnumerator Calculate(){
// calculatedCells = new List<cellData>();
// bool foundPath = false;
// openCells=new List<cellData>();
// openCells.Add(startCell);
// while(!foundPath){
// cellData closeCell = null;
// float lowestFcost = Mathf.Infinity;
// foreach(cellData cell in openCells){
// if(cell.fCost < lowestFcost){
// closeCell=cell;
// lowestFcost=cell.fCost;
// }
// }
// if(closeCell == targetCell){Debug.Log("GOT THE TARGET!"); foundPath=true;}
// openCells.Remove(closeCell);
// calculateCellCost(closeCell);
// // if(! calculateCellCost(closeCell)){Debug.Log("YOU DUMB!");yield return new WaitForSeconds(0.01f);continue;}
// calculatedCells.Add(closeCell);
// closeCell.setClose(true);
// float minDist = Mathf.Infinity;
// cellData nextCloseCell = null;
// foreach(cellData cell in closeCell.neighbours){
// if(cell == null){continue;}
// if(cell.isClose){continue;}
// calculateCellCost(cell);
// if(cell.fCost < lowestFcost){
// openCells.Add(cell);
// }
// }
// if(nextCloseCell!=null){
// }else{
// Debug.Log("Hit a deadend, backtracking?");
// }
// // cellsToCalculate.Remove(cell);
// yield return new WaitForSeconds(0.1f);
// }
List<cellData> open = new List<cellData>();
List<cellData> close = new List<cellData>();
open.Add(startCell);
bool foundPath = false;
while(!foundPath){
cellData current = null;
float lowestF = Mathf.Infinity;
foreach(cellData cell in open){
if(cell.fCost < lowestF){
lowestF = cell.fCost;
current = cell;
}
}
open.Remove(current);
close.Add(current);
current.setClose(true);
if(current == targetCell){foundPath=true; continue;}
foreach(cellData neighbour in current.neighbours){
if(close.Contains(neighbour)){continue;}
bool hasThisNeighbour = open.Contains(neighbour);
if(neighbour.fCost < lowestF || !hasThisNeighbour){
calculateCellCost(neighbour);
if(neighbour.fCost < lowestF || neighbour.parent==null){ neighbour.parent = current;}
if(!hasThisNeighbour){open.Add(neighbour);}
}
}
yield return new WaitForSeconds(0.05f);
}
//sort
bool pathCleared = false;
cellData parentCell = targetCell;
while(!pathCleared){
if(parentCell == startCell){pathCleared=true; break;}
parentCell.GetComponent<SpriteRenderer>().color =Color.blue;
parentCell = parentCell.parent;
yield return new WaitForSeconds(0.1f);
}
}
bool calculateCellCost(cellData cell){
if((int)cell.fCost!=0){Debug.Log("already calculated, skipping");return false;}
float hCost = Vector2.Distance(cell.transform.position, targetCell.transform.position);
float gCost = Vector2.Distance(cell.transform.position, startCell.transform.position);
float fCost = hCost + gCost;
cell.setCellCost(gCost, hCost, fCost);
return true;
}
public void resetCellsCost(){
foreach(cellData cell in cells){
cell.resetCost();
}
}
}

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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class astar : MonoBehaviour
{
[Header("Grid Information")]
public float width;
public float height;
public Color gridBoundsVisualizeColor = Color.red;
public GameObject cellGameObject;
public Transform cellsParent;
public cellData[,] cells;
public Vector2Int targetCellId;
public Vector2Int startCellId;
void Start()
{
StartCoroutine(generateCells());
}
IEnumerator generateCells(){
//Generate cells in grid
float cellSize = cellGameObject.transform.localScale.x;
Vector2 cellStartPosition = new Vector2( transform.position.x - width /2f, transform.position.y - height /2f)
+ new Vector2(cellSize/2f, cellSize/2f);
int horizontalCellCount = (int)(width / cellSize);
int verticalCellCount = (int)(height / cellSize);
cells = new cellData[horizontalCellCount,verticalCellCount];
for(int x= 0; x < horizontalCellCount; x++){
for(int y = 0; y < verticalCellCount; y++){
Vector2 cellSpawnPos = cellStartPosition + new Vector2(cellSize * x, cellSize *y );
GameObject cell = Instantiate(cellGameObject, cellSpawnPos , Quaternion.identity);
cell.GetComponent<cellData>().x = x;
cell.GetComponent<cellData>().y = y;
cell.transform.parent = cellsParent;
//isObstacle?
cell.GetComponent<cellData>().setObstacle(Physics2D.BoxCast(cell.transform.position, cell.transform.localScale/2f, 0 ,Vector2.zero));
//cell.GetComponent<cellData>().setObstacle(Physics2D.CircleCast(cellSpawnPos,cellSize /2f,Vector2.zero));
//cells.Add(cell.GetComponent<cellData>());
cells[x,y] = cell.GetComponent<cellData>();
yield return new WaitForSeconds(0.001f);
}
}
}
// Update is called once per frame
Coroutine calculator = null;
void Update()
{
if(Input.GetKeyDown(KeyCode.E)){
Vector2 worldPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
Vector2Int closestCellId = getClosestCell(worldPos);
if(startCellId.magnitude >=0){cells[startCellId.x,startCellId.y].setObstacle();}
startCellId = closestCellId;
cells[startCellId.x, startCellId.y].GetComponent<SpriteRenderer>().color = Color.red;
}else if(Input.GetKeyDown(KeyCode.F)){
Vector2 worldPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
if(targetCellId.magnitude >=0){cells[targetCellId.x,targetCellId.y].setObstacle();}
Vector2Int closestCell = getClosestCell(worldPos);
targetCellId = closestCell;
cells[targetCellId.x, targetCellId.y].GetComponent<SpriteRenderer>().color = Color.blue;
}else if(Input.GetKeyDown(KeyCode.Return)){
if(calculator != null){StopCoroutine(calculator); resetCellsCost();}
Debug.Log("Starting calculation");
calculator = StartCoroutine(Calculate());
}
}
public Vector2Int getClosestCell(Vector2 worldPos){
float minDist = Mathf.Infinity;
cellData closestCell = null;
foreach(cellData cell in cells){
if(cell.isObstacle){continue;}
float DistToCell = Vector3.Distance(worldPos, cell.transform.position);
if(DistToCell < minDist){
minDist = DistToCell;
closestCell = cell;
}
}
return closestCell;
}
void OnDrawGizmos(){
//Gizmos.Color = gridBoundsVisualizeColor;
Gizmos.color = gridBoundsVisualizeColor;
Gizmos.DrawWireCube(transform.position, new Vector3(width, height, 0));
}
IEnumerator Calculate(){
bool foundPath = false;
Vector2Int closeCellId = startCellId;
while(!foundPath){
calculateCellCost(cells[closeCellId.x,closeCellId.y]);
for(int x = -1; x <= 1; x++){
for(int y=-1; y <= 1; y++){
int targetX = closeCellId.x +x;
int targetY = closeCellId.y +y;
if(cells.GetLength(0) < targetX || targetX < 0 || targetY < 0 || cells.GetLength(1) < targetY){continue;}
calculateCellCost(cells[targetX,targetY]);
}
}
// cellsToCalculate.Remove(cell);
yield return new WaitForSeconds(0.01f);
}
}
void calculateCellCost(cellData cell){
if(cell.fCost==0){return;}
float hCost = Vector2.Distance(cell.transform.position, cells[targetCellId.x, targetCellId.y].transform.position);
float gCost = Vector2.Distance(cell.transform.position, cells[startCellId.x, startCellId.y].transform.position);
float fCost = hCost + gCost;
cell.setCellCost(gCost, hCost, fCost);
}
public void resetCellsCost(){
foreach(cellData cell in cells){
cell.resetCost();
}
}
}

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using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class astar_vertex : MonoBehaviour
{
public Transform VertexGroup;
[SerializeField]
public List<Vertex> nodes;
Vertex startNode;
Vertex endNode;
public Transform startVisualizer;
public Transform endVisualizer;
public PathWalker walker;
public List<Vertex> finalPath;
void Start()
{
finalPath = new List<Vertex>();
nodes = new List<Vertex>();
foreach(Vertex vertex in VertexGroup.GetComponentsInChildren<Vertex>()){
NodeData nodeData = vertex.gameObject.AddComponent(typeof(NodeData)) as NodeData;
nodes.Add(vertex);
}
}
// Update is called once per frame
void Update()
{
if(startNode != null){Debug.DrawLine(startVisualizer.position, startNode.transform.position);}
if(endNode != null){Debug.DrawLine(endVisualizer.position, endNode.transform.position);}
if(Input.GetKeyDown(KeyCode.E)){
Vector2 startPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
startVisualizer.position = startPos;
//get closest and reachable node to this location
float minDist = Mathf.Infinity;
foreach(Vertex node in nodes){
if(Physics2D.Linecast(startPos, node.transform.position)){}else{
float distToNode = Vector2.Distance(node.transform.position, startPos);
if(distToNode < minDist){
minDist = distToNode;
startNode = node;
}
}
}
}else if(Input.GetKeyDown(KeyCode.F)){
Vector2 endPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
endVisualizer.position = endPos;
//get closest and reachable node to this location
float minDist = Mathf.Infinity;
foreach(Vertex node in nodes){
if(Physics2D.Linecast(endPos, node.transform.position)){}else{
float distToNode = Vector2.Distance(node.transform.position, endPos);
if(distToNode < minDist){
minDist = distToNode;
endNode = node;
}
}
}
}else if(Input.GetKeyDown(KeyCode.Return)){
//Start Calculation
StartCoroutine(Calculate());
}else if(Input.GetKeyDown(KeyCode.I)){
Recalculate();
}else if(Input.GetKeyDown(KeyCode.S)){
Recalculate();
walker.pathNodes = new List<Transform>();
walker.curIndex = 0;
walker.pathNodes.Add(startNode.transform);
for(int i = finalPath.Count-1; i >=0; i--){
walker.pathNodes.Add(finalPath[i].transform);
}
walker.pathNodes.Add(endVisualizer);
}
if(finalPath.Count > 1){
for(int i = 1; i < finalPath.Count; i++){
Debug.DrawLine(finalPath[i].transform.position, finalPath[i-1].transform.position, Color.green);
}
}
}
public void Recalculate(){
DateTime startTime = DateTime.Now;
foreach(Vertex node in nodes){
node.GetComponent<NodeData>().Reset();
}
List<Vertex> open = new List<Vertex>();
List<Vertex> close = new List<Vertex>();
open.Add(startNode);
bool foundPath = false;
while(!foundPath){
Vertex current = null;
float lowestF = Mathf.Infinity;
foreach(Vertex cell in open){
if(cell.GetComponent<NodeData>().fCost < lowestF){
lowestF = cell.GetComponent<NodeData>().fCost;
current = cell;
}
}
open.Remove(current);
close.Add(current);
if(current == endNode){foundPath=true; continue;}
foreach(Vertex neighbour in current.neighbours){
if(close.Contains(neighbour)){continue;}
bool hasThisNeighbour = open.Contains(neighbour);
if(neighbour.GetComponent<NodeData>().fCost < lowestF || !hasThisNeighbour){
calculateCellCost(neighbour.GetComponent<NodeData>());
if(neighbour.GetComponent<NodeData>().fCost < lowestF || neighbour.GetComponent<NodeData>().parent==null){ neighbour.GetComponent<NodeData>().parent = current;}
if(!hasThisNeighbour){open.Add(neighbour);}
}
}
// yield return new WaitForSeconds(0.05f);
}
//sort
bool pathCleared = false;
Vertex parentCell = endNode;
finalPath= new List<Vertex>();
while(!pathCleared){
if(parentCell == startNode){pathCleared=true; break;}
finalPath.Add(parentCell);
parentCell = parentCell.GetComponent<NodeData>().parent;
// yield return new WaitForSeconds(0.1f);
}
Debug.Log("Calculation finished in " + (DateTime.Now - startTime).TotalMilliseconds + "ms");
}
IEnumerator Calculate(){
DateTime startTime = DateTime.Now;
foreach(Vertex node in nodes){
node.GetComponent<NodeData>().Reset();
}
List<Vertex> open = new List<Vertex>();
List<Vertex> close = new List<Vertex>();
open.Add(startNode);
bool foundPath = false;
while(!foundPath){
Vertex current = null;
float lowestF = Mathf.Infinity;
foreach(Vertex cell in open){
if(cell.GetComponent<NodeData>().fCost < lowestF){
lowestF = cell.GetComponent<NodeData>().fCost;
current = cell;
}
}
open.Remove(current);
close.Add(current);
if(current == endNode){foundPath=true; continue;}
foreach(Vertex neighbour in current.neighbours){
if(close.Contains(neighbour)){continue;}
bool hasThisNeighbour = open.Contains(neighbour);
if(neighbour.GetComponent<NodeData>().fCost < lowestF || !hasThisNeighbour){
calculateCellCost(neighbour.GetComponent<NodeData>());
if(neighbour.GetComponent<NodeData>().fCost < lowestF || neighbour.GetComponent<NodeData>().parent==null){ neighbour.GetComponent<NodeData>().parent = current;}
if(!hasThisNeighbour){open.Add(neighbour);}
}
}
// yield return new WaitForSeconds(0.05f);
}
//sort
bool pathCleared = false;
Vertex parentCell = endNode;
finalPath= new List<Vertex>();
while(!pathCleared){
if(parentCell == startNode){pathCleared=true; break;}
finalPath.Add(parentCell);
parentCell = parentCell.GetComponent<NodeData>().parent;
yield return new WaitForSeconds(0.1f);
}
Debug.Log("Calculation finished in " + (DateTime.Now - startTime).Milliseconds + "ms");
}
bool calculateCellCost(NodeData cell){
if((int)cell.fCost!=0){return false;}
cell.hCost = Vector2.Distance(cell.transform.position, endNode.transform.position);
cell.gCost = Vector2.Distance(cell.transform.position, startNode.transform.position);
cell.fCost = cell.hCost + cell.gCost;
return true;
}
void OnValidate(){
if(VertexGroup !=null && VertexGroup.GetComponentInChildren<Vertex>()==null){VertexGroup = null; Debug.LogError("Please assigna a vertex group with vertecies as children");}
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}

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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
public class cellData : MonoBehaviour
{
public TextMesh gCostTxt;
public TextMesh hCostTxt;
public TextMesh fCostTxt;
public float fCost,gCost,hCost;
public List<cellData> neighbours = new List<cellData>();
public int y;
public int x;
private bool _isObstacle = false;
public bool isObstacle => _isObstacle;
private bool _isClose = false;
public bool isClose => _isClose;
public bool isInPath;
public cellData parent;
public void setCellCost(float g, float h, float f){
gCostTxt.text =g.ToString("n2");
hCostTxt.text = h.ToString("n2");
fCostTxt.text = f.ToString("n2");
fCost= f;
gCost = g;
hCost = h;
}
public void setClose(bool value){
_isClose = value;
if(value){
GetComponent<SpriteRenderer>().color = Color.red;
}else{
setObstacle();
}
}
public void resetCost(){
setCellCost(0,0,0);
setClose(false);
}
public void setObstacle(bool value){
_isObstacle = value;
if(value){
GetComponent<SpriteRenderer>().color = Color.black;
}else{
GetComponent<SpriteRenderer>().color = Color.white;
}
}
public void setObstacle(){
if(_isObstacle){
GetComponent<SpriteRenderer>().color = Color.black;
}else{
GetComponent<SpriteRenderer>().color = Color.white;
}
}
}

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