Author: Rod Green
A text book implementation of the A* network pathing routine. Based of the wikipedia detailing on the method.A* Wikipedia Article
Usage
The code is broken into a class (AStarHelper) and the base interface (IPathNode) needed for the Helper class
See below for usage example (tester).
AStarHelper class
using UnityEngine; using System.Collections; using System.Collections.Generic; public static class AStarHelper { // Validator for path nodes // Needed to cope with nodes that might be GameObjects and therefore // not 'acutally' null when compared in generic methods public static bool Invalid<T>(T inNode) where T: IPathNode<T> { if(inNode == null || inNode.Invalid) return true; return false; } // Distance between Nodes static float Distance<T>(T start, T goal) where T: IPathNode<T> { if(Invalid(start) || Invalid(goal)) return float.MaxValue; return Vector3.Distance(start.Position, goal.Position); } // Base cost Estimate - this would need to be evoled for your project based on true cost // to move between nodes static float HeuristicCostEstimate<T>(T start, T goal) where T: IPathNode<T> { return Distance(start, goal); } // Find the current lowest score path static T LowestScore<T>(List<T> openset, Dictionary<T, float> scores) where T: IPathNode<T> { int index = 0; float lowScore = float.MaxValue; for(int i = 0; i < openset.Count; i++) { if(scores[openset[i]] > lowScore) continue; index = i; lowScore = scores[openset[i]]; } return openset[index]; } // Calculate the A* path public static List<T> Calculate<T>(T start, T goal) where T: IPathNode<T> { List<T> closedset = new List<T>(); // The set of nodes already evaluated. List<T> openset = new List<T>(); // The set of tentative nodes to be evaluated. openset.Add(start); Dictionary<T, T> came_from = new Dictionary<T, T>(); // The map of navigated nodes. Dictionary<T, float> g_score = new Dictionary<T, float>(); g_score[start] = 0.0f; // Cost from start along best known path. Dictionary<T, float> h_score = new Dictionary<T, float>(); h_score[start] = HeuristicCostEstimate(start, goal); Dictionary<T, float> f_score = new Dictionary<T, float>(); f_score[start] = h_score[start]; // Estimated total cost from start to goal through y. while(openset.Count != 0) { T x = LowestScore(openset, f_score); if(x.Equals(goal)) { List<T> result = new List<T>(); ReconstructPath(came_from, x, ref result); return result; } openset.Remove(x); closedset.Add(x); foreach(T y in x.Connections) { if(AStarHelper.Invalid(y) || closedset.Contains(y)) continue; float tentative_g_score = g_score[x] + Distance(x, y); bool tentative_is_better = false; if(!openset.Contains(y)) { openset.Add(y); tentative_is_better = true; } else if (tentative_g_score < g_score[y]) tentative_is_better = true; if(tentative_is_better) { came_from[y] = x; g_score[y] = tentative_g_score; h_score[y] = HeuristicCostEstimate(y, goal); f_score[y] = g_score[y] + h_score[y]; } } } return null; } // Once the goal has been found we now reconstruct the steps taken to get to the path static void ReconstructPath<T>(Dictionary<T, T> came_from, T current_node, ref List<T> result) where T: IPathNode<T> { if(came_from.ContainsKey(current_node)) { ReconstructPath(came_from, came_from[current_node], ref result); result.Add(current_node); return; } result.Add(current_node); } }
IPathNode Interface
using UnityEngine; using System.Collections; using System.Collections.Generic; public interface IPathNode<T> { List<T> Connections { get; } Vector3 Position { get; } bool Invalid {get;} }
Usage Example
This is a very quick and dirty implementation of the AStartHelper class. It's really meant to allow fast debugging of the routine and not a 'true' implementation of the technique into a game library.
- PathNode class (MonoBehaviour) is an implementation of the IPathNode interface
- PathNodeTester (MonoBehaviour) is an object that's used to handle the globals and execution of the path calculations
PathNode Class
using UnityEngine; using System.Collections; using System.Collections.Generic; public class PathNode : MonoBehaviour, IPathNode<PathNode> { public List<PathNode> connections; public static int pnIndex; public Color nodeColor = new Color(0.05f, 0.3f, 0.05f, 0.1f); public bool Invalid { get { return (this == null); } } public List<PathNode> Connections { get { return connections; } } public Vector3 Position { get { return transform.position; } } public void Update() { DrawHelper.DrawCube(transform.position, Vector3.one, nodeColor ); if(connections == null) return; for(int i = 0; i < connections.Count; i++) { if(connections[i] == null) continue; Debug.DrawLine(transform.position, connections[i].Position, nodeColor); } } public void Awake() { if(connections == null) connections = new List<PathNode>(); } public static PathNode Spawn(Vector3 inPosition) { GameObject obj = GameObject.CreatePrimitive(PrimitiveType.Cube); obj.name = "pn_" + pnIndex; obj.transform.position = inPosition; pnIndex++; PathNode newNode = obj.AddComponent<PathNode>(); return newNode; } public static List<PathNode> CreateGrid(Vector3 center, Vector3 spacing, int[] dim, float randomSpace) { GameObject groupObject = new GameObject("grid"); Random.seed = 1337; int xCount = dim[0]; int yCount = dim[1]; float xWidth = spacing.x * xCount; float yWidth = spacing.z * yCount; float xStart = center.x - (xWidth / 2.0f) + (spacing.x / 2.0f); float yStart = center.z - (yWidth / 2.0f) + (spacing.z / 2.0f); List<PathNode> result = new List<PathNode>(); for(int x = 0; x < xCount; x++) { float xPos = (x * spacing.x) + xStart; for(int y = 0; y < yCount; y++) { if(randomSpace > 0.0f) { if(Random.value <= randomSpace) { result.Add(null); continue; } } float yPos = (y * spacing.z) + yStart; PathNode newNode = Spawn(new Vector3(xPos, 0.0f, yPos)); result.Add(newNode); newNode.transform.parent = groupObject.transform; } } for(int x = 0; x < xCount; x++) { for(int y = 0; y < yCount; y++) { int thisIndex = (x * yCount) + y; List<int> connectedIndicies = new List<int>(); PathNode thisNode = result[thisIndex]; if(AStarHelper.Invalid(thisNode)) continue; if(x != 0) connectedIndicies.Add(((x - 1) * yCount) + y); if(x != xCount - 1) connectedIndicies.Add(((x + 1) * yCount) + y); if(y != 0) connectedIndicies.Add((x * yCount) + (y - 1)); if(y != yCount - 1) connectedIndicies.Add((x * yCount) + (y + 1)); if(x != 0 && y != 0) connectedIndicies.Add(((x - 1) * yCount) + (y - 1)); if(x != xCount - 1 && y != yCount - 1) connectedIndicies.Add(((x + 1) * yCount) + (y + 1)); if(x != 0 && y != yCount - 1) connectedIndicies.Add(((x - 1) * yCount) + (y + 1)); if(x != xCount - 1 && y != 0) connectedIndicies.Add(((x + 1) * yCount) + (y - 1)); for(int i = 0; i < connectedIndicies.Count; i++) { PathNode thisConnection = result[connectedIndicies[i]]; if(AStarHelper.Invalid(thisConnection)) continue; thisNode.Connections.Add(thisConnection); } } } return result; } }
DrawHelper Class
using System; using System.Collections; using System.Collections.Generic; using UnityEngine; public class DrawHelper { public static void DrawCube(Vector3 position, Vector3 size, Color color) { Vector3 leftFrontDown = new Vector3( -size.x / 2.0f, -size.y / 2.0f, -size.z / 2.0f ); Vector3 rightFrontDown = new Vector3( size.x / 2.0f, -size.y / 2.0f, -size.z / 2.0f ); Vector3 rightFrontUp = new Vector3( size.x / 2.0f, size.y / 2.0f, -size.z / 2.0f ); Vector3 leftFrontUp = new Vector3( -size.x / 2.0f, size.y / 2.0f, -size.z / 2.0f ); Vector3 leftBackDown = new Vector3( -size.x / 2.0f, -size.y / 2.0f, size.z / 2.0f ); Vector3 rightBackDown = new Vector3( size.x / 2.0f, -size.y / 2.0f, size.z / 2.0f ); Vector3 rightBackUp = new Vector3( size.x / 2.0f, size.y / 2.0f, size.z / 2.0f ); Vector3 leftBackUp = new Vector3( -size.x / 2.0f, size.y / 2.0f, size.z / 2.0f ); Vector3[] arr = new Vector3[8]; arr[0] = leftFrontDown; arr[1] = rightFrontDown; arr[2] = rightFrontUp; arr[3] = leftFrontUp; arr[4] = leftBackDown; arr[5] = rightBackDown; arr[6] = rightBackUp; arr[7] = leftBackUp; for (int i = 0; i < arr.Length; i++) arr[i] += position; for (int i = 0; i < arr.Length; i++) { for (int j = 0; j < arr.Length; j++) { if (i != j) { Debug.DrawLine(arr[i], arr[j], color); } } } } }
PathNodeTester Class
using UnityEngine; using System.Collections; using System.Collections.Generic; public class PathNodeTester : MonoBehaviour { public List<PathNode> sources; public GameObject start; public GameObject end; public Color nodeColor = new Color(0.05f, 0.3f, 0.05f, 0.1f); public Color pulseColor = new Color(1.0f, 0.0f, 0.0f, 1.0f); public Color pathColor = new Color(0.0f, 1.0f, 0.0f, 1.0f); public bool reset; public bool gridCreated; int startIndex; int endIndex; int lastEndIndex; int lastStartIndex; bool donePath; public List<PathNode> solvedPath = new List<PathNode>(); public void Awake() { if(gridCreated) return; sources = PathNode.CreateGrid(Vector3.zero, Vector3.one * 5.0f, new int[] { 50, 50}, 0.0f); gridCreated = true; } public void PulsePoint(int index) { if(AStarHelper.Invalid(sources[index])) return; DrawHelper.DrawCube(sources[index].Position, Vector3.one * 2.0f, pulseColor); } public void Draw(int startPoint, int endPoint, Color inColor) { Debug.DrawLine(sources[startPoint].Position, sources[endPoint].Position, inColor); } static int Closest(List<PathNode> inNodes, Vector3 toPoint) { int closestIndex = 0; float minDist = float.MaxValue; for(int i = 0; i < inNodes.Count; i++) { if(AStarHelper.Invalid(inNodes[i])) continue; float thisDist = Vector3.Distance(toPoint, inNodes[i].Position); if(thisDist > minDist) continue; minDist = thisDist; closestIndex = i; } return closestIndex; } public void Update() { if(reset) { donePath = false; ArrayFunc.Clear(ref solvedPath); reset = false; } if(start == null || end == null) { Debug.LogWarning("Need 'start' and or 'end' defined!"); enabled = false; return; } startIndex = Closest(sources, start.transform.position); endIndex = Closest(sources, end.transform.position); if(startIndex != lastStartIndex || endIndex != lastEndIndex) { reset = true; lastStartIndex = startIndex; lastEndIndex = endIndex; return; } for(int i = 0; i < sources.Count; i++) { if(AStarHelper.Invalid(sources[i])) continue; sources[i].nodeColor = nodeColor; } PulsePoint(lastStartIndex); PulsePoint(lastEndIndex); if(!donePath) { solvedPath = AStarHelper.Calculate(sources[lastStartIndex], sources[lastEndIndex]); donePath = true; } // Invalid path if(solvedPath == null || solvedPath.Count < 1) { Debug.LogWarning("Invalid path!"); reset = true; enabled = false; return; } //Draw path for(int i = 0; i < solvedPath.Count - 1; i++) { if(AStarHelper.Invalid(solvedPath[i]) || AStarHelper.Invalid(solvedPath[i + 1])) { reset = true; return; } Debug.DrawLine(solvedPath[i].Position, solvedPath[i + 1].Position, Color.cyan * new Color(1.0f, 1.0f, 1.0f, 0.5f)); } } }
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