From 7f65ead64472f4b0086d705a4d4a03513140b3d7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C5=A1a=20Ceviel?= Date: Wed, 18 Feb 2026 10:43:12 +0300 Subject: [PATCH] lab6 --- Assets/Code/Lab6.meta | 3 + Assets/Code/Lab6/Edge.cs | 42 + Assets/Code/Lab6/Edge.cs.meta | 3 + Assets/Code/Lab6/Graph.cs | 244 ++ Assets/Code/Lab6/Graph.cs.meta | 3 + Assets/Code/Lab6/GraphGrid.cs | 324 ++ Assets/Code/Lab6/GraphGrid.cs.meta | 3 + Assets/Code/Lab6/Vertex.cs | 37 + Assets/Code/Lab6/Vertex.cs.meta | 3 + Assets/Code/Lab6/VertexPathFollower.cs | 198 ++ Assets/Code/Lab6/VertexPathFollower.cs.meta | 3 + Assets/Code/UI/Lab6Controller.cs | 244 ++ Assets/Code/UI/Lab6Controller.cs.meta | 3 + Assets/Resources/Maps.meta | 3 + Assets/Resources/Maps/arena.map | 14 + Assets/Resources/Maps/arena.map.meta | 3 + Assets/Resources/Maps/chaotic_labyrinth.map | 19 + .../Resources/Maps/chaotic_labyrinth.map.meta | 7 + Assets/Resources/Maps/city_square.map | 24 + Assets/Resources/Maps/city_square.map.meta | 7 + Assets/Resources/Maps/cross.map | 15 + Assets/Resources/Maps/cross.map.meta | 7 + Assets/Resources/Maps/double_room.map | 16 + Assets/Resources/Maps/double_room.map.meta | 7 + Assets/Resources/Maps/epstein_island.map | 16 + Assets/Resources/Maps/epstein_island.map.meta | 7 + Assets/Resources/Maps/greek_labyrinth.map | 24 + .../Resources/Maps/greek_labyrinth.map.meta | 7 + Assets/Resources/Maps/labyrinth.map | 14 + Assets/Resources/Maps/labyrinth.map.meta | 7 + Assets/Resources/Maps/river.map | 19 + Assets/Resources/Maps/river.map.meta | 7 + Assets/Resources/Maps/spiral.map | 19 + Assets/Resources/Maps/spiral.map.meta | 7 + Assets/Resources/Maps/tournament.map | 34 + Assets/Resources/Maps/tournament.map.meta | 7 + Assets/Resources/Prefabs/GroundVertex.prefab | 114 + .../Prefabs/GroundVertex.prefab.meta | 7 + Assets/Resources/Prefabs/Obstacle.prefab | 114 + Assets/Resources/Prefabs/Obstacle.prefab.meta | 7 + Assets/Resources/Scenes/Lab4.unity.meta | 2 +- Assets/Resources/Scenes/Lab6.unity | 2928 +++++++++++++++++ Assets/Resources/Scenes/Lab6.unity.meta | 7 + ProjectSettings/EditorBuildSettings.asset | 5 +- 44 files changed, 4582 insertions(+), 2 deletions(-) create mode 100644 Assets/Code/Lab6.meta create mode 100644 Assets/Code/Lab6/Edge.cs create mode 100644 Assets/Code/Lab6/Edge.cs.meta create mode 100644 Assets/Code/Lab6/Graph.cs create mode 100644 Assets/Code/Lab6/Graph.cs.meta create mode 100644 Assets/Code/Lab6/GraphGrid.cs create mode 100644 Assets/Code/Lab6/GraphGrid.cs.meta create mode 100644 Assets/Code/Lab6/Vertex.cs create mode 100644 Assets/Code/Lab6/Vertex.cs.meta create mode 100644 Assets/Code/Lab6/VertexPathFollower.cs create mode 100644 Assets/Code/Lab6/VertexPathFollower.cs.meta create mode 100644 Assets/Code/UI/Lab6Controller.cs create mode 100644 Assets/Code/UI/Lab6Controller.cs.meta create mode 100644 Assets/Resources/Maps.meta create mode 100644 Assets/Resources/Maps/arena.map create mode 100644 Assets/Resources/Maps/arena.map.meta create mode 100644 Assets/Resources/Maps/chaotic_labyrinth.map create mode 100644 Assets/Resources/Maps/chaotic_labyrinth.map.meta create mode 100644 Assets/Resources/Maps/city_square.map create mode 100644 Assets/Resources/Maps/city_square.map.meta create mode 100644 Assets/Resources/Maps/cross.map create mode 100644 Assets/Resources/Maps/cross.map.meta create mode 100644 Assets/Resources/Maps/double_room.map create mode 100644 Assets/Resources/Maps/double_room.map.meta create mode 100644 Assets/Resources/Maps/epstein_island.map create mode 100644 Assets/Resources/Maps/epstein_island.map.meta create mode 100644 Assets/Resources/Maps/greek_labyrinth.map create mode 100644 Assets/Resources/Maps/greek_labyrinth.map.meta create mode 100644 Assets/Resources/Maps/labyrinth.map create mode 100644 Assets/Resources/Maps/labyrinth.map.meta create mode 100644 Assets/Resources/Maps/river.map create mode 100644 Assets/Resources/Maps/river.map.meta create mode 100644 Assets/Resources/Maps/spiral.map create mode 100644 Assets/Resources/Maps/spiral.map.meta create mode 100644 Assets/Resources/Maps/tournament.map create mode 100644 Assets/Resources/Maps/tournament.map.meta create mode 100644 Assets/Resources/Prefabs/GroundVertex.prefab create mode 100644 Assets/Resources/Prefabs/GroundVertex.prefab.meta create mode 100644 Assets/Resources/Prefabs/Obstacle.prefab create mode 100644 Assets/Resources/Prefabs/Obstacle.prefab.meta create mode 100644 Assets/Resources/Scenes/Lab6.unity create mode 100644 Assets/Resources/Scenes/Lab6.unity.meta diff --git a/Assets/Code/Lab6.meta b/Assets/Code/Lab6.meta new file mode 100644 index 0000000..dedf10c --- /dev/null +++ b/Assets/Code/Lab6.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: e6ed2809466848c8b1fbb7d87a465803 +timeCreated: 1771392678 \ No newline at end of file diff --git a/Assets/Code/Lab6/Edge.cs b/Assets/Code/Lab6/Edge.cs new file mode 100644 index 0000000..63c5722 --- /dev/null +++ b/Assets/Code/Lab6/Edge.cs @@ -0,0 +1,42 @@ +using System; + +namespace Code.Lab6 +{ + [Serializable] + public class Edge : IComparable + { + public float cost; + public readonly Vertex Vertex; + + public Edge(Vertex vertex = null, float cost = 1f) + { + Vertex = vertex; + this.cost = cost; + } + + public int CompareTo(Edge other) + { + var result = cost - other.cost; + var idA = Vertex.GetInstanceID(); + var idB = other.Vertex.GetInstanceID(); + if (idA == idB) return 0; + return (int)result; + } + + public bool Equals(Edge other) + { + return other.Vertex.id == Vertex.id; + } + + public override bool Equals(object obj) + { + var other = (Edge)obj; + return other != null && other.Vertex.id == Vertex.id; + } + + public override int GetHashCode() + { + return Vertex.GetHashCode(); + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab6/Edge.cs.meta b/Assets/Code/Lab6/Edge.cs.meta new file mode 100644 index 0000000..1116bf9 --- /dev/null +++ b/Assets/Code/Lab6/Edge.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: d1cc93fbb8b74a3dbb53466e2ec007ad +timeCreated: 1771392690 \ No newline at end of file diff --git a/Assets/Code/Lab6/Graph.cs b/Assets/Code/Lab6/Graph.cs new file mode 100644 index 0000000..3f527f6 --- /dev/null +++ b/Assets/Code/Lab6/Graph.cs @@ -0,0 +1,244 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using UnityEngine; + +namespace Code.Lab6 +{ + public abstract class Graph : MonoBehaviour + { + public GameObject vertexPrefab; + protected List Vertices; + protected List> Neighbours; + protected List> Costs; + + public virtual void Start() + { + if (Application.isPlaying) + { + Load(); + } + } + + public virtual void Load() { } + + public virtual int GetSize() + { + if (ReferenceEquals(Vertices, null)) return 0; + return Vertices.Count; + } + + public virtual Vertex GetNearestVertex(Vector3 position) + { + return null; + } + + public virtual Vertex GetVertexObj(int id) + { + if (ReferenceEquals(Vertices, null) || Vertices.Count == 0) + return null; + if (id < 0 || id >= Vertices.Count) + return null; + return Vertices[id]; + } + + public virtual Vertex[] GetNeighbours(Vertex v) + { + if (ReferenceEquals(Neighbours, null) || Neighbours.Count == 0 || v.id < 0 || v.id >= Neighbours.Count) + return Array.Empty(); + return Neighbours[v.id].ToArray(); + } + + public virtual Edge[] GetEdges(Vertex v) + { + return v.neighbours == null ? Array.Empty() : v.neighbours.ToArray(); + } + + public List GetPathBfs(GameObject srcObj, GameObject dstObj) + { + if (!srcObj || !dstObj) + return new List(); + + var src = GetNearestVertex(srcObj.transform.position); + var dst = GetNearestVertex(dstObj.transform.position); + + if (!src || !dst) + { + Debug.LogWarning("Source or destination vertex is null"); + return new List(); + } + + Debug.Log($"BFS from {src.id} to {dst.id}"); + + var previous = new Dictionary(); + var visited = new HashSet(); + var queue = new Queue(); + + visited.Add(src.id); + previous[src.id] = src.id; + queue.Enqueue(src); + + while (queue.Count > 0) + { + var current = queue.Dequeue(); + + if (current.id == dst.id) + { + Debug.Log("BFS: Path found!"); + return BuildPath(src.id, dst.id, previous); + } + + var neighbours = GetNeighbours(current); + + foreach (var neighbour in neighbours) + { + if (!neighbour) continue; + + if (!visited.Add(neighbour.id)) continue; + + previous[neighbour.id] = current.id; + queue.Enqueue(neighbour); + } + } + + Debug.LogWarning("BFS: No path found"); + return new List(); + } + + public List GetPathDfs(GameObject srcObj, GameObject dstObj) + { + if (!srcObj || !dstObj) + return new List(); + + var src = GetNearestVertex(srcObj.transform.position); + var dst = GetNearestVertex(dstObj.transform.position); + + if (!src || !dst) + { + Debug.LogWarning("Source or destination vertex is null"); + return new List(); + } + + Debug.Log($"DFS from {src.id} to {dst.id}"); + + var previous = new Dictionary(); + var visited = new HashSet(); + var stack = new Stack(); + + visited.Add(src.id); + previous[src.id] = src.id; + stack.Push(src); + + while (stack.Count > 0) + { + var current = stack.Pop(); + + if (current.id == dst.id) + { + Debug.Log("DFS: Path found!"); + return BuildPath(src.id, dst.id, previous); + } + + var neighbours = GetNeighbours(current); + + foreach (var neighbour in neighbours) + { + if (!neighbour) continue; + + if (!visited.Add(neighbour.id)) continue; + + previous[neighbour.id] = current.id; + stack.Push(neighbour); + } + } + + Debug.LogWarning("DFS: No path found"); + return new List(); + } + + private List BuildPath(int srcId, int dstId, Dictionary previous) + { + var path = new List(); + + if (!previous.ContainsKey(dstId)) + { + Debug.LogError("Destination not in previous dictionary"); + return path; + } + + var currentId = dstId; + + while (currentId != srcId) + { + var currentVertex = GetVertexById(currentId); + if (!currentVertex) + { + Debug.LogError($"Vertex with id {currentId} not found"); + break; + } + + path.Add(currentVertex); + + if (!previous.TryGetValue(currentId, out var previou)) + { + Debug.LogError($"Previous not found for id {currentId}"); + break; + } + + currentId = previou; + } + + var srcVertex = GetVertexById(srcId); + if (srcVertex is not null) + { + path.Add(srcVertex); + } + + path.Reverse(); + + Debug.Log($"Path built with {path.Count} vertices"); + return path; + } + + private Vertex GetVertexById(int id) + { + return Vertices?.FirstOrDefault(v => v && v.id == id); + } + + private List BuildPath(int srcId, int dstId, ref int[] prevList) + { + var path = new List(); + var prev = dstId; + + do + { + var v = GetVertexById(prev); + if (v == null) + { + Debug.LogError($"Vertex with id {prev} not found"); + break; + } + + path.Add(v); + + if (prev < 0 || prev >= prevList.Length) + { + Debug.LogError($"Index {prev} out of range for prevList (size {prevList.Length})"); + break; + } + + prev = prevList[prev]; + } while (prev != srcId && prev != -1); + + if (prev != -1) + { + var srcV = GetVertexById(srcId); + if (srcV != null) + path.Add(srcV); + } + + path.Reverse(); + return path; + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab6/Graph.cs.meta b/Assets/Code/Lab6/Graph.cs.meta new file mode 100644 index 0000000..c2730bf --- /dev/null +++ b/Assets/Code/Lab6/Graph.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: d9a37e08f9ec46ab848036cca23dfbd4 +timeCreated: 1771392722 \ No newline at end of file diff --git a/Assets/Code/Lab6/GraphGrid.cs b/Assets/Code/Lab6/GraphGrid.cs new file mode 100644 index 0000000..f81eef7 --- /dev/null +++ b/Assets/Code/Lab6/GraphGrid.cs @@ -0,0 +1,324 @@ +using System; +using System.Collections.Generic; +using System.IO; +using UnityEngine; + +namespace Code.Lab6 +{ + public class GraphGrid : Graph + { + public GameObject obstaclePrefab; + public string mapName = "arena.map"; + public bool get8Vicinity = false; + public float cellSize = 1f; + + [Range(0, Mathf.Infinity)] + public float defaultCost = 1f; + + private const string MapsDir = "Resources/Maps"; + private int _numCols; + private int _numRows; + private GameObject[] _vertexObj; + private bool[,] _mapVertices; + + private Dictionary _gridIdToVertexIndex; + + private int GridToId(int x, int y) + { + return _numCols * y + x; + } + + private Vector2Int IdToGrid(int id) + { + return new Vector2Int(id % _numCols, id / _numCols); + } + + private void LoadMap(string filename) + { + var path = Application.dataPath + "/" + MapsDir + "/" + filename; + + try + { + var strmRdr = new StreamReader(path); + using (strmRdr) + { + strmRdr.ReadLine(); + + var line = strmRdr.ReadLine(); + if (line != null && line.StartsWith("height")) + { + _numRows = int.Parse(line.Split(' ')[1]); + } + else + { + Debug.LogError("Invalid map format: height line not found"); + return; + } + + line = strmRdr.ReadLine(); + if (line != null && line.StartsWith("width")) + { + _numCols = int.Parse(line.Split(' ')[1]); + } + else + { + Debug.LogError("Invalid map format: width line not found"); + return; + } + + strmRdr.ReadLine(); + + var totalCells = _numRows * _numCols; + Vertices = new List(); + Neighbours = new List>(); + Costs = new List>(); + _vertexObj = new GameObject[totalCells]; + _mapVertices = new bool[_numRows, _numCols]; + _gridIdToVertexIndex = new Dictionary(); + + Debug.Log($"Loading map {_numRows}x{_numCols} (total cells: {totalCells})"); + + for (var row = 0; row < _numRows; row++) + { + line = strmRdr.ReadLine(); + + if (string.IsNullOrEmpty(line) || line.Length < _numCols) + { + Debug.LogError($"Map line {row} is too short or missing"); + continue; + } + + for (var col = 0; col < _numCols; col++) + { + var cellChar = line[col]; + var isGround = (cellChar == '.' || cellChar == 'G' || cellChar == ' '); + + _mapVertices[row, col] = isGround; + + var position = new Vector3(col * cellSize, 0f, row * cellSize); + var gridId = GridToId(col, row); + + GameObject obj; + + if (isGround && vertexPrefab != null) + { + obj = Instantiate(vertexPrefab, position, Quaternion.identity); + } + else if (!isGround && obstaclePrefab != null) + { + obj = Instantiate(obstaclePrefab, position, Quaternion.identity); + } + else + { + obj = GameObject.CreatePrimitive(PrimitiveType.Cube); + obj.transform.position = position; + + var renderer1 = obj.GetComponent(); + if (renderer1 != null) + { + renderer1.material.color = isGround ? Color.green : Color.red; + } + } + + if (obj == null) continue; + + obj.name = $"{(isGround ? "Ground" : "Obstacle")}_{gridId}"; + obj.transform.parent = transform; + + var scale = obj.transform.localScale; + scale.x = cellSize; + scale.z = cellSize; + scale.y = isGround ? 0.1f : 1f; + obj.transform.localScale = scale; + + _vertexObj[gridId] = obj; + + if (!isGround) continue; + + var v = obj.GetComponent(); + if (v == null) + v = obj.AddComponent(); + + v.id = gridId; + v.neighbours = new List(); + + var vertexIndex = Vertices.Count; + Vertices.Add(v); + Neighbours.Add(new List()); + Costs.Add(new List()); + + _gridIdToVertexIndex[gridId] = vertexIndex; + } + } + + Debug.Log($"Created {Vertices.Count} walkable vertices"); + + foreach (var kvp in _gridIdToVertexIndex) + { + var gridId = kvp.Key; + var vertexIndex = kvp.Value; + var gridPos = IdToGrid(gridId); + SetNeighbours(gridPos.x, gridPos.y, vertexIndex); + } + + Debug.Log($"Map loaded successfully. {Vertices.Count} walkable vertices"); + } + } + catch (Exception e) + { + Debug.LogError($"Failed to load map: {e.Message}"); + Debug.LogException(e); + } + } + + protected void SetNeighbours(int x, int y, int vertexIndex) + { + var currentVertex = Vertices[vertexIndex]; + var gridId = currentVertex.id; + + Neighbours[vertexIndex].Clear(); + Costs[vertexIndex].Clear(); + currentVertex.neighbours.Clear(); + + Vector2Int[] directions; + + if (get8Vicinity) + { + directions = new[] + { + new Vector2Int(x, y - 1), new Vector2Int(x + 1, y - 1), new Vector2Int(x + 1, y), new Vector2Int(x + 1, y + 1), new Vector2Int(x, y + 1), new Vector2Int(x - 1, y + 1), new Vector2Int(x - 1, y), new Vector2Int(x - 1, y - 1) + }; + } + else + { + directions = new[] + { + new Vector2Int(x, y - 1), new Vector2Int(x + 1, y), new Vector2Int(x, y + 1), new Vector2Int(x - 1, y) + }; + } + + var diagonalCost = defaultCost * 1.4f; + + foreach (var dir in directions) + { + if (dir.x < 0 || dir.x >= _numCols || dir.y < 0 || dir.y >= _numRows) + continue; + + if (!_mapVertices[dir.y, dir.x]) + continue; + + var neighbourGridId = GridToId(dir.x, dir.y); + + if (!_gridIdToVertexIndex.TryGetValue(neighbourGridId, out var neighbourIndex)) + continue; + + var neighbourVertex = Vertices[neighbourIndex]; + + var cost = defaultCost; + if (dir.x != x && dir.y != y) + { + cost = diagonalCost; + } + + Neighbours[vertexIndex].Add(neighbourVertex); + Costs[vertexIndex].Add(cost); + currentVertex.neighbours.Add(new Edge(neighbourVertex, cost)); + } + } + + public override void Load() + { + LoadMap(mapName); + } + + public override Vertex GetNearestVertex(Vector3 position) + { + var col = Mathf.RoundToInt(position.x / cellSize); + var row = Mathf.RoundToInt(position.z / cellSize); + + col = Mathf.Clamp(col, 0, _numCols - 1); + row = Mathf.Clamp(row, 0, _numRows - 1); + + if (!_mapVertices[row, col]) + { + return FindNearestWalkable(col, row); + } + + var gridId = GridToId(col, row); + + return _gridIdToVertexIndex.TryGetValue(gridId, out var vertexIndex) ? Vertices[vertexIndex] : null; + } + + private Vertex FindNearestWalkable(int startCol, int startRow) + { + var queue = new Queue(); + var explored = new HashSet(); + + queue.Enqueue(new Vector2Int(startCol, startRow)); + explored.Add(new Vector2Int(startCol, startRow)); + + const int maxSearchRadius = 20; + var steps = 0; + + while (queue.Count > 0 && steps < maxSearchRadius * maxSearchRadius) + { + var pos = queue.Dequeue(); + + if (_mapVertices[pos.y, pos.x]) + { + var gridId = GridToId(pos.x, pos.y); + if (_gridIdToVertexIndex.TryGetValue(gridId, out var vertexIndex)) + { + return Vertices[vertexIndex]; + } + } + + var neighbours = new[] + { + new Vector2Int(pos.x, pos.y - 1), + new Vector2Int(pos.x + 1, pos.y), + new Vector2Int(pos.x, pos.y + 1), + new Vector2Int(pos.x - 1, pos.y) + }; + + foreach (var n in neighbours) + { + if (n.x < 0 || n.x >= _numCols || n.y < 0 || n.y >= _numRows || !explored.Add(n)) continue; + queue.Enqueue(n); + } + + steps++; + } + + Debug.LogWarning($"No walkable vertex found near ({startCol}, {startRow})"); + + return Vertices.Count > 0 ? Vertices[0] : null; + } + + public override Vertex[] GetNeighbours(Vertex v) + { + if (!v || Vertices == null || Neighbours == null || !_gridIdToVertexIndex.TryGetValue(v.id, out var vertexIndex) || vertexIndex < 0 || vertexIndex >= Neighbours.Count || Neighbours[vertexIndex] == null) + return Array.Empty(); + + return Neighbours[vertexIndex].ToArray(); + } + + public override Edge[] GetEdges(Vertex v) + { + if (!v || v.neighbours == null) + return Array.Empty(); + + return v.neighbours.ToArray(); + } + + public override Vertex GetVertexObj(int id) + { + if (!_gridIdToVertexIndex.TryGetValue(id, out var vertexIndex)) return null; + + if (vertexIndex >= 0 && vertexIndex < Vertices.Count) + return Vertices[vertexIndex]; + + return null; + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab6/GraphGrid.cs.meta b/Assets/Code/Lab6/GraphGrid.cs.meta new file mode 100644 index 0000000..b369c08 --- /dev/null +++ b/Assets/Code/Lab6/GraphGrid.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 507ba3373b14402a9205a88c6d3d7e94 +timeCreated: 1771392736 \ No newline at end of file diff --git a/Assets/Code/Lab6/Vertex.cs b/Assets/Code/Lab6/Vertex.cs new file mode 100644 index 0000000..77d5371 --- /dev/null +++ b/Assets/Code/Lab6/Vertex.cs @@ -0,0 +1,37 @@ +using System.Collections.Generic; +using System.Linq; +using UnityEngine; + +namespace Code.Lab6 +{ + [System.Serializable] + public class Vertex : MonoBehaviour + { + public int id = -1; + public List neighbours; + [HideInInspector] + public Vertex prev; + + private void Awake() + { + neighbours ??= new List(); + } + + private void OnDrawGizmos() + { + Gizmos.color = Color.cyan; + Gizmos.DrawSphere(transform.position, 0.2f); + } + + private void OnDrawGizmosSelected() + { + if (neighbours == null) return; + + Gizmos.color = Color.yellow; + foreach (var edge in neighbours.Where(edge => edge?.Vertex != null)) + { + Gizmos.DrawLine(transform.position, edge.Vertex.transform.position); + } + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab6/Vertex.cs.meta b/Assets/Code/Lab6/Vertex.cs.meta new file mode 100644 index 0000000..0776208 --- /dev/null +++ b/Assets/Code/Lab6/Vertex.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 27d037f459ac450d9902f69b5b339d54 +timeCreated: 1771392709 \ No newline at end of file diff --git a/Assets/Code/Lab6/VertexPathFollower.cs b/Assets/Code/Lab6/VertexPathFollower.cs new file mode 100644 index 0000000..cb4be8f --- /dev/null +++ b/Assets/Code/Lab6/VertexPathFollower.cs @@ -0,0 +1,198 @@ +using Code.Base; +using System.Collections.Generic; +using Code.Lab1; +using UnityEngine; + +namespace Code.Lab6 +{ + public class VertexPathFollower : Seek + { + private List _path; + private int _currentTargetIndex; + private bool _isFollowing; + + public float waypointReachedDistance = 0.5f; + public bool loopPath; + public bool drawGizmos = true; + + public float agentHeight = 1f; + + public bool fixYPosition = true; + + private float _startY; + + public override void Awake() + { + base.Awake(); + if (target == null) + { + target = new GameObject("PathFollower_Target"); + } + _path = new List(); + _isFollowing = false; + + _startY = transform.position.y; + } + + public void SetPath(List newPath) + { + if (newPath == null || newPath.Count == 0) + { + Debug.LogWarning("Path is empty!"); + StopFollowing(); + return; + } + + _path = newPath; + _currentTargetIndex = 0; + _isFollowing = true; + + Debug.Log($"Path set! Starting movement to {_path.Count} waypoints"); + + UpdateTargetPosition(); + } + + public void StopFollowing() + { + _isFollowing = false; + _path?.Clear(); + } + + private void UpdateTargetPosition() + { + if (!target || _path == null || _path.Count == 0) + return; + + if (_currentTargetIndex < _path.Count && _path[_currentTargetIndex] != null) + { + var targetPos = _path[_currentTargetIndex].transform.position; + targetPos.y = agentHeight; + target.transform.position = targetPos; + } + } + + public override Steering GetSteering() + { + if (!_isFollowing || _path == null || _path.Count == 0 || _currentTargetIndex >= _path.Count) + { + return new Steering(); + } + + if (fixYPosition) + { + var currentPos = transform.position; + currentPos.y = agentHeight; + transform.position = currentPos; + } + + var distanceToTarget = Vector3.Distance( + new Vector3(transform.position.x, 0, transform.position.z), + new Vector3(target.transform.position.x, 0, target.transform.position.z) + ); + + if (distanceToTarget < waypointReachedDistance) + { + _currentTargetIndex++; + + if (_currentTargetIndex >= _path.Count) + { + if (loopPath) + { + _currentTargetIndex = 0; + Debug.Log("Path completed! Looping..."); + } + else + { + Debug.Log("Path completed! Stopping."); + StopFollowing(); + return new Steering(); + } + } + + UpdateTargetPosition(); + } + + var steering = base.GetSteering(); + + steering.Linear = new Vector3(steering.Linear.x, 0, steering.Linear.z); + + return steering; + } + + private void FixedUpdate() + { + if (fixYPosition) + { + var pos = transform.position; + pos.y = agentHeight; + transform.position = pos; + } + } + + public bool IsFollowing() + { + return _isFollowing && _path != null && _path.Count > 0 && _currentTargetIndex < _path.Count; + } + + public Vertex GetCurrentTarget() + { + if (!_isFollowing || _path == null || _path.Count == 0 || _currentTargetIndex >= _path.Count) + return null; + + return _path[_currentTargetIndex]; + } + + public int GetRemainingWaypoints() + { + if (!_isFollowing || _path == null) + return 0; + + return Mathf.Max(0, _path.Count - _currentTargetIndex); + } + + private void OnDrawGizmos() + { + if (!drawGizmos || _path == null) return; + + Gizmos.color = Color.green; + for (var i = 0; i < _path.Count - 1; i++) + { + if (_path[i] != null && _path[i + 1] != null) + { + var start = _path[i].transform.position; + var end = _path[i + 1].transform.position; + start.y = agentHeight; + end.y = agentHeight; + Gizmos.DrawLine(start, end); + } + } + + if (_isFollowing && _currentTargetIndex < _path.Count && _path[_currentTargetIndex] != null) + { + var targetPos = _path[_currentTargetIndex].transform.position; + targetPos.y = agentHeight; + + Gizmos.color = Color.red; + Gizmos.DrawSphere(targetPos, 0.3f); + + Gizmos.color = Color.yellow; + var agentPos = transform.position; + agentPos.y = agentHeight; + Gizmos.DrawLine(agentPos, targetPos); + } + +#if UNITY_EDITOR + for (var i = 0; i < _path.Count; i++) + { + if (_path[i] == null) continue; + + var labelPos = _path[i].transform.position; + labelPos.y = agentHeight + 0.5f; + + UnityEditor.Handles.color = Color.white; + UnityEditor.Handles.Label(labelPos, $"#{i}"); + } +#endif + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab6/VertexPathFollower.cs.meta b/Assets/Code/Lab6/VertexPathFollower.cs.meta new file mode 100644 index 0000000..4ee878e --- /dev/null +++ b/Assets/Code/Lab6/VertexPathFollower.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 5347d94ded854559b5594b4ed46e03ee +timeCreated: 1771393841 \ No newline at end of file diff --git a/Assets/Code/UI/Lab6Controller.cs b/Assets/Code/UI/Lab6Controller.cs new file mode 100644 index 0000000..5a8d9c1 --- /dev/null +++ b/Assets/Code/UI/Lab6Controller.cs @@ -0,0 +1,244 @@ +using System.Collections.Generic; +using Code.Base; +using Code.Lab6; +using TMPro; +using UnityEngine; +using UnityEngine.SceneManagement; +using UnityEngine.UI; + +namespace Code.UI +{ + public class Lab6Controller : MonoBehaviour + { + public Graph graph; + public Agent agent; + public Transform targetMarker; + + public Button toMenuButton; + public Button resetButton; + public Button findPathButton; + public Button dfsButton; + public Button bfsButton; + public Button stopButton; + + public LineRenderer pathLine; + public Color pathColor = Color.green; + public TextMeshProUGUI statusText; + + private List _currentPath; + private VertexPathFollower _pathFollower; + private bool _useBfs = true; + + private void Awake() + { + if (toMenuButton != null) + toMenuButton.onClick.AddListener(LoadMainMenu); + if (resetButton != null) + resetButton.onClick.AddListener(ResetScene); + if (findPathButton != null) + findPathButton.onClick.AddListener(FindPathToTarget); + if (dfsButton != null) + dfsButton.onClick.AddListener(() => SetAlgorithm(false)); + if (bfsButton != null) + bfsButton.onClick.AddListener(() => SetAlgorithm(true)); + if (stopButton != null) + stopButton.onClick.AddListener(StopAgent); + + _pathFollower = agent?.GetComponent(); + if (_pathFollower == null && agent != null) + { + _pathFollower = agent.gameObject.AddComponent(); + } + + if (pathLine != null) + { + pathLine.startColor = pathColor; + pathLine.endColor = pathColor; + pathLine.startWidth = 0.2f; + pathLine.endWidth = 0.2f; + } + + _currentPath = new List(); + } + + private void Start() + { + if (graph == null) + graph = FindFirstObjectByType(); + + if (agent == null) + agent = FindFirstObjectByType(); + + if (targetMarker == null) + { + var marker = GameObject.CreatePrimitive(PrimitiveType.Sphere); + marker.name = "Target Marker"; + marker.transform.position = new Vector3(5, 0.5f, 5); + marker.transform.localScale = new Vector3(0.5f, 0.5f, 0.5f); + + var renderer1 = marker.GetComponent(); + renderer1.material.color = Color.red; + + Destroy(marker.GetComponent()); + + targetMarker = marker.transform; + } + + if (agent == null) return; + + var pos = agent.transform.position; + pos.y = 0.5f; + agent.transform.position = pos; + } + + private void Update() + { + if (Input.GetMouseButtonDown(1)) + { + if (Camera.main != null) + { + var ray = Camera.main.ScreenPointToRay(Input.mousePosition); + RaycastHit hit; + + if (Physics.Raycast(ray, out hit)) + { + var targetPos = hit.point; + targetPos.y = 0.5f; + targetMarker.position = targetPos; + FindPathToTarget(); + } + } + } + + DrawPath(); + UpdateStatusText(); + } + + private void UpdateStatusText() + { + if (!statusText) return; + + var status = $"Algorithm: {(_useBfs ? "BFS" : "DFS")}\n"; + + if (_pathFollower && _pathFollower.IsFollowing()) + { + status += $"Status: Moving to waypoint {_pathFollower.GetRemainingWaypoints()}/{_currentPath.Count}\n"; + var currentTarget = _pathFollower.GetCurrentTarget(); + if (currentTarget) + { + status += $"Target pos: {currentTarget.transform.position}\n"; + } + } + else + { + status += "Status: Idle\n"; + } + + status += $"Path nodes: {_currentPath.Count}"; + + statusText.text = status; + } + + public void SetAlgorithm(bool useBfs) + { + _useBfs = useBfs; + Debug.Log(useBfs ? "Using BFS algorithm" : "Using DFS algorithm"); + + if (targetMarker != null) + { + FindPathToTarget(); + } + } + + public void StopAgent() + { + if (_pathFollower != null) + { + _pathFollower.StopFollowing(); + } + _currentPath.Clear(); + } + + public void FindPathToTarget() + { + if (!graph || !agent || !targetMarker) + { + Debug.LogError("Missing references!"); + return; + } + + var targetPos = targetMarker.position; + targetPos.y = 0.5f; + targetMarker.position = targetPos; + + var path = _useBfs ? graph.GetPathBfs(agent.gameObject, targetMarker.gameObject) : graph.GetPathDfs(agent.gameObject, targetMarker.gameObject); + + if (path is { Count: > 0 }) + { + _currentPath = path; + Debug.Log($"Path found! Length: {path.Count} nodes"); + + if (_pathFollower) + { + _pathFollower.SetPath(path); + } + } + else + { + Debug.LogWarning("No path found!"); + _currentPath.Clear(); + if (_pathFollower) + { + _pathFollower.StopFollowing(); + } + } + } + + private void DrawPath() + { + if (!pathLine || _currentPath == null || _currentPath.Count < 2) + { + if (pathLine) + pathLine.positionCount = 0; + return; + } + + pathLine.positionCount = _currentPath.Count; + + for (var i = 0; i < _currentPath.Count; i++) + { + if (!_currentPath[i]) continue; + + var pos = _currentPath[i].transform.position; + pos.y += 0.2f; + pathLine.SetPosition(i, pos); + } + } + + private static void ResetScene() + { + SceneManager.LoadScene(SceneManager.GetActiveScene().name); + } + + private static void LoadMainMenu() + { + SceneManager.LoadScene("MainMenu"); + } + + private void OnDestroy() + { + if (toMenuButton != null) + toMenuButton.onClick.RemoveListener(LoadMainMenu); + if (resetButton != null) + 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