public static List <Vector3> GetDynamicPathToDestination(List <PointWithCost> startPointList, Vector3 goal, float movementBudget, AbstractActor unit, bool shouldSprint, List <AbstractActor> lanceUnits, PathNodeGrid pathGrid, float targetRadius, bool actorAware = false)
{
HexGrid hexGrid = unit.Combat.HexGrid;
if (shouldSprint && unit.CanSprint)
{
unit.Pathing.SetSprinting();
}
else
{
unit.Pathing.SetWalking();
}
HexPoint3 goalPoint = hexGrid.GetClosestHexPoint3OnGrid(goal);
List <PointWithCost> pathLatticePoints = FindPath(startPointList, goalPoint, unit, shouldSprint ? MoveType.Sprinting : MoveType.Walking, targetRadius, actorAware);
if ((pathLatticePoints == null) || (pathLatticePoints.Count == 0))
{
// can't find a path(!)
return(null);
}
// Dig, if you will:
// A - Current unit position
// B - a point on the edge between short range and long range pathfinding
// C - the goal point
// FindPath returned a path from B to C
// pathLatticePoints[0] is B
// walking backward through parents gets us the path from A to B
List <PathNode> pathNodes = new List <PathNode>();
PathNode walkNode = pathLatticePoints[0].pathNode;
while (walkNode != null)
{
pathNodes.Insert(0, walkNode);
walkNode = walkNode.Parent;
}
List <Vector3> longRangePathWorldPoints = pathLatticePoints.ConvertAll(x => hexGrid.HexPoint3ToCartesianWorld(x.point));
List <Vector3> pathWorldPoints = pathNodes.ConvertAll(x => x.Position);
pathWorldPoints.AddRange(longRangePathWorldPoints);
// we have now spliced the A->B path together with the B->C path to have a A->C path
if (longRangePathWorldPoints.Count == 1)
{
// if the B->C path is just one node, it's just B, so just return the A->C path,
// which is just the A->B path, which we can do all in one go.
return(pathWorldPoints);
}
// Debug Draw Path
float scale = 1.0f;
for (int pathIndex = 0; pathIndex < pathWorldPoints.Count - 1; ++pathIndex)
{
int nextIndex = pathIndex + 1;
Vector3 p0 = pathWorldPoints[pathIndex];
Vector3 p1 = pathWorldPoints[nextIndex];
scale = (p1 - p0).magnitude;
for (int dx = -1; dx <= 1; ++dx)
{
for (int dz = -1; dz <= 1; ++dz)
{
Vector3 offset = new Vector3(dx * scale * 0.1f, 0, dz * scale * 0.1f);
Debug.DrawLine(p0 + offset, p1 + offset, Color.red, 30.0f);
}
}
}
drawCircle(unit.CurrentPosition, scale * 0.4f, Color.cyan, 30.0f);
drawCircle(goal, scale * 0.4f, Color.magenta, 30.0f);
drawCircle(pathWorldPoints[0], scale * 0.3f, Color.red, 30.0f);
drawCircle(pathWorldPoints[0], scale * 0.35f, Color.white, 30.0f);
drawCircle(pathWorldPoints[0], scale * 0.4f, Color.blue, 30.0f);
// TODO/dlecompte push this up to filter our selection of path nodes, above.
float spread = unit.BehaviorTree.GetBehaviorVariableValue(
unit.Combat.TurnDirector.IsInterleaved ?
BehaviorVariableName.Float_InterleavedLanceSpreadDistance :
BehaviorVariableName.Float_NonInterleavedLanceSpreadDistance).FloatVal;
drawCircle(unit.CurrentPosition, spread, Color.green, 30.0f);
Debug.Assert(pathWorldPoints.Count >= 2); // already tested this, above.
float accumDistance = 0.0f;
Vector3 clipPoint = goal;
// Now we walk along the pathWorldPoints, snapping them to grid points.
// We want to take the point furthest along the path that doesn't alias to an earlier point.
// Also, nodes must be "safe" from artillery
// Also, we want to make sure that it's the furthest point within our movement budget and within our lance spread.
// MUST BE : within movement budget, not an alias to an earlier point
// IF any points exist inside lance spread, pick last point inside lance spread, else last point.
List <Vector3> dedupedSnappedPointsList = new List <Vector3>();
List <Vector3> snappedPointsInOrder = new List <Vector3>();
List <Vector3> nextPointsInOrder = new List <Vector3>();
List <bool> pointsInSpreadRangeList = new List <bool>();
List <bool> isNewGroundList = new List <bool>();
float ROUNDING_RADIUS = 1.0f;
bool wasEverInside = false;
for (int pointIndex = 0; (pointIndex < pathWorldPoints.Count) && (accumDistance <= movementBudget); ++pointIndex)
{
Vector3 thisPoint = pathWorldPoints[pointIndex];
Vector3 nextPoint = goal;
if (pointIndex + 1 < pathWorldPoints.Count)
{
nextPoint = pathWorldPoints[pointIndex + 1];
}
Vector3 thisSnappedPoint = unit.Combat.HexGrid.GetClosestPointOnGrid(thisPoint);
if (!IsLocationSafe(unit.Combat, thisSnappedPoint))
{
continue;
}
snappedPointsInOrder.Add(thisSnappedPoint);
nextPointsInOrder.Add(nextPoint);
bool pointIsInsideSpread = AIUtil.IsPositionWithinLanceSpread(unit, lanceUnits, thisSnappedPoint);
wasEverInside |= pointIsInsideSpread;
pointsInSpreadRangeList.Add(pointIsInsideSpread);
bool alreadyVisited = isPointInList(thisSnappedPoint, dedupedSnappedPointsList, ROUNDING_RADIUS);
isNewGroundList.Add(!alreadyVisited);
if (!alreadyVisited)
{
dedupedSnappedPointsList.Add(thisSnappedPoint);
}
if (pointIndex + 1 < pathWorldPoints.Count)
{
accumDistance += (nextPoint - thisPoint).magnitude;
}
}
if (wasEverInside)
{
// find the last point of our list that is "new ground" and inside
for (int i = snappedPointsInOrder.Count - 1; i >= 0; --i)
{
if (isNewGroundList[i] && pointsInSpreadRangeList[i])
{
clipPoint = snappedPointsInOrder[i];
break;
}
}
}
if ((!wasEverInside) || ((clipPoint - unit.CurrentPosition).magnitude < 1.0f))
{
// find the last point of our list that is "new ground"
for (int i = snappedPointsInOrder.Count - 1; i >= 0; --i)
{
if (isNewGroundList[i])
{
clipPoint = snappedPointsInOrder[i];
break;
}
}
}
for (int i = snappedPointsInOrder.Count - 1; i >= 0; --i)
{
drawCircle(snappedPointsInOrder[i], scale * 0.2f, new Color(0.5f, 0.5f, 0.0f), 30.0f);
if (pointsInSpreadRangeList[i])
{
drawCircle(snappedPointsInOrder[i], scale * 0.25f, new Color(0.0f, 1.0f, 0.0f), 30.0f);
}
}
//Vector3 resultPos = clipPoint;
drawCircle(clipPoint, scale * 0.4f, new Color(1.0f, 0.5f, 0.0f), 30.0f);
return(snappedPointsInOrder);
}
public Vector3 GetDestination(List <PointWithDistance> startPointList, Vector3 goal, float movementBudget, float maxSlope, AbstractActor unit, bool shouldSprint, List <AbstractActor> lanceUnits, PathNodeGrid pathGrid, out Vector3 lookAtPoint)
{
if (shouldSprint && unit.CanSprint)
{
unit.Pathing.SetSprinting();
}
else
{
unit.Pathing.SetWalking();
}
InclineIndexPoint goalPoint = WorldPointToInclineIndices(goal);
List <PointWithDistance> pathLatticePoints = FindPath(startPointList, goalPoint, maxSlope, maxSlope);
if ((pathLatticePoints == null) || (pathLatticePoints.Count == 0))
{
// can't find a path(!)
// set the lookAtPoint (out) variable to a point further out in the direction of start->goal
lookAtPoint = goal * 2.0f - unit.CurrentPosition;
return(goal);
}
List <PathNode> pathNodes = new List <PathNode>();
PathNode walkNode = pathLatticePoints[0].pathNode;
while (walkNode != null)
{
pathNodes.Insert(0, walkNode);
walkNode = walkNode.Parent;
}
List <Vector3> longRangePathWorldPoints = pathLatticePoints.ConvertAll(x => InclineIndicesToWorldPoint(x.point));
List <Vector3> pathWorldPoints = pathNodes.ConvertAll(x => x.Position);
pathWorldPoints.AddRange(longRangePathWorldPoints);
Vector3 destination;
if (longRangePathWorldPoints.Count == 1)
{
destination = longRangePathWorldPoints[0];
if ((goal - destination).magnitude < 1.0f)
{
lookAtPoint = destination * 2.0f - unit.CurrentPosition;
}
else
{
lookAtPoint = goal;
}
return(destination);
}
// Debug Draw Path
float scale = 1.0f;
for (int pathIndex = 0; pathIndex < pathWorldPoints.Count - 1; ++pathIndex)
{
int nextIndex = pathIndex + 1;
Vector3 p0 = pathWorldPoints[pathIndex];
Vector3 p1 = pathWorldPoints[nextIndex];
scale = (p1 - p0).magnitude;
for (int dx = -1; dx <= 1; ++dx)
{
for (int dz = -1; dz <= 1; ++dz)
{
Vector3 offset = new Vector3(dx * scale * 0.1f, 0, dz * scale * 0.1f);
Debug.DrawLine(p0 + offset, p1 + offset, Color.red, 30.0f);
}
}
}
drawCircle(unit.CurrentPosition, scale * 0.4f, Color.cyan, 30.0f);
drawCircle(goal, scale * 0.4f, Color.magenta, 30.0f);
drawCircle(pathWorldPoints[0], scale * 0.3f, Color.red, 30.0f);
drawCircle(pathWorldPoints[0], scale * 0.35f, Color.white, 30.0f);
drawCircle(pathWorldPoints[0], scale * 0.4f, Color.blue, 30.0f);
// TODO/dlecompte push this up to filter our selection of path nodes, above.
float spread = unit.BehaviorTree.GetBehaviorVariableValue(
unit.Combat.TurnDirector.IsInterleaved ?
BehaviorVariableName.Float_InterleavedLanceSpreadDistance :
BehaviorVariableName.Float_NonInterleavedLanceSpreadDistance).FloatVal;
drawCircle(unit.CurrentPosition, spread, Color.green, 30.0f);
Debug.Assert(pathWorldPoints.Count >= 2); // already tested this, above.
float accumDistance = 0.0f;
// if we can get to the goal, look at a point further away in the direction of start -> goal
lookAtPoint = 2 * goal - unit.CurrentPosition;
Vector3 clipPoint = goal;
// Now we walk along the pathWorldPoints, snapping them to grid points.
// We want to take the point furthest along the path that doesn't alias to an earlier point.
// Also, we want to make sure that it's the furthest point within our movement budget and within our lance spread.
// MUST BE : within movement budget, not an alias to an earlier point
// IF any points exist inside lance spread, pick last point inside lance spread, else last point.
List <Vector3> dedupedSnappedPointsList = new List <Vector3>();
List <Vector3> snappedPointsInOrder = new List <Vector3>();
List <Vector3> nextPointsInOrder = new List <Vector3>();
List <bool> pointsInSpreadRangeList = new List <bool>();
List <bool> isNewGroundList = new List <bool>();
float ROUNDING_RADIUS = 1.0f;
bool wasEverInside = false;
for (int pointIndex = 0; (pointIndex < pathWorldPoints.Count) && (accumDistance <= movementBudget); ++pointIndex)
{
Vector3 thisPoint = pathWorldPoints[pointIndex];
Vector3 nextPoint = goal;
if (pointIndex + 1 < pathWorldPoints.Count)
{
nextPoint = pathWorldPoints[pointIndex + 1];
}
Vector3 thisSnappedPoint = unit.Combat.HexGrid.GetClosestPointOnGrid(thisPoint);
snappedPointsInOrder.Add(thisSnappedPoint);
nextPointsInOrder.Add(nextPoint);
bool pointIsInsideSpread = AIUtil.IsPositionWithinLanceSpread(unit, lanceUnits, thisSnappedPoint);
wasEverInside |= pointIsInsideSpread;
pointsInSpreadRangeList.Add(pointIsInsideSpread);
bool alreadyVisited = isPointInList(thisSnappedPoint, dedupedSnappedPointsList, ROUNDING_RADIUS);
isNewGroundList.Add(!alreadyVisited);
if (!alreadyVisited)
{
dedupedSnappedPointsList.Add(thisSnappedPoint);
}
if (pointIndex + 1 < pathWorldPoints.Count)
{
accumDistance += (nextPoint - thisPoint).magnitude;
}
}
if (wasEverInside)
{
// find the last point of our list that is "new ground" and inside
for (int i = snappedPointsInOrder.Count - 1; i >= 0; --i)
{
if (isNewGroundList[i] && pointsInSpreadRangeList[i])
{
clipPoint = snappedPointsInOrder[i];
lookAtPoint = nextPointsInOrder[i];
break;
}
}
}
if ((!wasEverInside) || ((clipPoint - unit.CurrentPosition).magnitude < 1.0f))
{
// find the last point of our list that is "new ground"
for (int i = snappedPointsInOrder.Count - 1; i >= 0; --i)
{
if (isNewGroundList[i])
{
clipPoint = snappedPointsInOrder[i];
lookAtPoint = nextPointsInOrder[i];
break;
}
}
}
for (int i = snappedPointsInOrder.Count - 1; i >= 0; --i)
{
drawCircle(snappedPointsInOrder[i], scale * 0.2f, new Color(0.5f, 0.5f, 0.0f), 30.0f);
if (pointsInSpreadRangeList[i])
{
drawCircle(snappedPointsInOrder[i], scale * 0.25f, new Color(0.0f, 1.0f, 0.0f), 30.0f);
}
}
//float lookAngle = PathingUtil.GetAngle(lookAtPoint - clipPoint);
//Vector3 resultPos = clipPoint;
drawCircle(clipPoint, scale * 0.4f, new Color(1.0f, 0.5f, 0.0f), 30.0f);
return(clipPoint);
}