2110511031/Unity-MazeRunner-Pathfinding-Visualizer
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Feat\Fix: Adding some test for pathfinding and limit input access during pathfinnding

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Bobby Rafael
2025-05-23 09:42:31 +07:00
parent d4699d6b36
commit 7eeb3a3f35
15 changed files with 2875 additions and 33 deletions
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94
Assets/Scripts/NPC.cs
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@ -21,17 +21,26 @@ public struct PathfindingMetrics
public float totalGCost; // Total biaya G untuk jalur (jarak sebenarnya)
public float totalHCost; // Total biaya H untuk jalur (heuristik)
public float totalFCost; // Total biaya F untuk jalur (G + H)
}
/// <summary>
/// NPC adalah komponen utama yang mengelola pergerakan NPC dalam sistem pathfinding.
/// Kelas ini bertanggung jawab untuk membuat, menampilkan, dan mengelola jalur untuk NPC.
/// </summary>
public class NPC : MonoBehaviour
{
public float speed = 2.0f;
public Queue<Vector2> wayPoints = new Queue<Vector2>();
// Event that fires when pathfinding is complete with performance metrics
public event Action<PathfindingMetrics> OnPathfindingComplete;
// Last measured memory usage (for accessing from outside)
public long LastMeasuredMemoryUsage { get; private set; } = 0;
/// <summary>
/// Enumerasi yang merepresentasikan berbagai algoritma pathfinding yang tersedia.
/// </summary>
public enum PathFinderType
{
ASTAR,
@ -44,13 +53,26 @@ public class NPC : MonoBehaviour
[SerializeField]
public PathFinderType pathFinderType = PathFinderType.ASTAR;
PathFinder<Vector2Int> pathFinder = null;
public PathFinder<Vector2Int> pathFinder = null;
public GridMap Map { get; set; }
// List to store all steps for visualization playback
private List<PathfindingVisualizationStep> visualizationSteps = new List<PathfindingVisualizationStep>();
private bool isVisualizingPath = false;
private bool isMoving = false;
// Public accessor for visualization state
public bool IsVisualizingPath => isVisualizingPath;
// Public accessor for movement state
public bool IsMoving => isMoving;
// Event that fires when visualization is complete
public event Action OnVisualizationComplete;
// Event that fires when movement is complete
public event Action OnMovementComplete;
// Properties to control visualization
[SerializeField]
@ -110,11 +132,27 @@ public class NPC : MonoBehaviour
{
while (wayPoints.Count > 0)
{
// Set the moving flag when starting to move
if (!isMoving && wayPoints.Count > 0)
{
isMoving = true;
UnityEngine.Debug.Log("NPC movement started");
}
yield return StartCoroutine(
Coroutine_MoveToPoint(
wayPoints.Dequeue(),
speed));
}
// If we were moving but now have no more waypoints, signal movement completion
if (isMoving && wayPoints.Count == 0)
{
isMoving = false;
UnityEngine.Debug.Log("NPC movement complete, invoking OnMovementComplete event");
OnMovementComplete?.Invoke();
}
yield return null;
}
}
@ -236,8 +274,10 @@ public class NPC : MonoBehaviour
{
yield return StartCoroutine(MeasurePerformance(silentMode));
// Start visualization after calculation is complete
if (pathFinder.Status == PathFinderStatus.SUCCESS && showVisualization && !silentMode)
// Start visualization after calculation is complete regardless of success or failure
// This allows visualization of the explored area even when no path is found
if (showVisualization && !silentMode &&
(pathFinder.Status == PathFinderStatus.SUCCESS || pathFinder.Status == PathFinderStatus.FAILURE))
{
yield return StartCoroutine(VisualizePathfinding());
}
@ -254,8 +294,8 @@ public class NPC : MonoBehaviour
// Pre-allocate visualizationSteps with estimated capacity to avoid reallocations
visualizationSteps = new List<PathfindingVisualizationStep>(4);
GC.Collect();
GC.WaitForPendingFinalizers(); // Tunggu semua finalizers selesai
//GC.Collect(2, GCCollectionMode.Forced, true, true);
//GC.WaitForPendingFinalizers(); // Tunggu semua finalizers selesai
// ===== MEMORY MEASUREMENT START: Ukur memory sebelum algoritma =====
long memoryBefore = System.GC.GetTotalMemory(false);
@ -284,13 +324,9 @@ public class NPC : MonoBehaviour
long memoryAfter = System.GC.GetTotalMemory(false);
long memoryUsed = memoryAfter - memoryBefore;
// float miliseconds = algorithmTimer.ElapsedMilliseconds;
//UnityEngine.Debug.Log("$algorithmTimer.ElapsedTicks: " + algorithmTimer.ElapsedTicks);
//UnityEngine.Debug.Log("$Stopwatch.Frequency: " + Stopwatch.Frequency);
//float seconds = (float)algorithmTimer.ElapsedTicks / Stopwatch.Frequency;
//UnityEngine.Debug.Log("$seconds: " + seconds);
// Store the memory usage for external access
LastMeasuredMemoryUsage = memoryUsed > 0 ? memoryUsed : 1024;
float milliseconds = (algorithmTimer.ElapsedTicks * 1000.0f) / Stopwatch.Frequency;
// Calculate path length once and reuse
@ -324,11 +360,9 @@ public class NPC : MonoBehaviour
totalFCost = totalFCost,
};
// *** IMPORTANT FIX: Always invoke the event, regardless of silent mode ***
// Report metrics before visualization
if (!silentMode)
{
OnPathfindingComplete?.Invoke(metrics);
}
OnPathfindingComplete?.Invoke(metrics);
// Path visualization and handling
HandlePathFindingResult(silentMode, pathLength);
@ -418,7 +452,6 @@ public class NPC : MonoBehaviour
/// </summary>
private void HandlePathFindingResult(bool silentMode, int pathLength)
{
if (pathFinder.Status == PathFinderStatus.SUCCESS)
{
OnSuccessPathFinding();
@ -449,6 +482,11 @@ public class NPC : MonoBehaviour
else if (pathFinder.Status == PathFinderStatus.FAILURE)
{
OnFailurePathFinding();
// For failure case, we don't add any final path visualization steps
// The exploration steps (open/closed lists) are already added during the search
// and will be visualized to show what nodes were explored before failure
UnityEngine.Debug.Log($"Pathfinding failed - visualization will show {visualizationSteps.Count} exploration steps");
}
}
@ -554,8 +592,9 @@ public class NPC : MonoBehaviour
if (!showVisualization)
yield break;
UnityEngine.Debug.Log("Path visualization starting");
isVisualizingPath = true;
// First, ensure grid is reset
Map.ResetGridNodeColours();
@ -563,6 +602,14 @@ public class NPC : MonoBehaviour
int stepCount = visualizationSteps.Count;
int batchSize = Mathf.Min(visualizationBatch, stepCount); // set higher value for faster visualization
// Detect if pathfinding failed - we'll need to know this when processing steps
bool pathfindingFailed = pathFinder.Status == PathFinderStatus.FAILURE;
if (pathfindingFailed)
{
UnityEngine.Debug.Log($"Visualizing failed pathfinding attempt with {stepCount} steps");
}
for (int i = 0; i < stepCount; i += batchSize)
{
int end = Mathf.Min(i + batchSize, stepCount);
@ -587,8 +634,8 @@ public class NPC : MonoBehaviour
break;
case PathfindingVisualizationStep.StepType.FinalPath:
gnv.SetInnerColor(Map.COLOR_PATH);
// Also add the waypoint when we process the path
if (step.type == PathfindingVisualizationStep.StepType.FinalPath)
// Only add waypoints for successful pathfinding
if (!pathfindingFailed)
{
GridNode pathNode = Map.GetGridNode(step.position.x, step.position.y);
AddWayPoint(pathNode);
@ -603,6 +650,9 @@ public class NPC : MonoBehaviour
}
isVisualizingPath = false;
UnityEngine.Debug.Log("Path visualization complete, invoking OnVisualizationComplete event");
// Notify any listeners that visualization is complete
OnVisualizationComplete?.Invoke();
}
/// <summary>