public override Goal Decompose(KinematicData character, Goal goal)
{
if ((Astar == null))
{
Astar = new NodeArrayAStarPathFinding(Graph, Heuristic);
Astar.InitializePathfindingSearch(character.position, goal.position);
CurrentParam = 0.0f;
}
GlobalPath currentSolution;
if (Astar.InProgress)
{
var finished = Astar.Search(out currentSolution, true);
if (finished && currentSolution != null)
{
this.AStarSolution = currentSolution;
this.GlobalPath = StringPullingPathSmoothing.SmoothPath(character, currentSolution);
this.GlobalPath.CalculateLocalPathsFromPathPositions(character.position);
// gets first node
goal.position = this.GlobalPath.LocalPaths[0].EndPosition;
return(goal);
}
/* else if(currentSolution != null && currentSolution.IsPartial)
* {
* goal.position = currentSolution.PathPositions[0];
* return goal;
* }*/
}
else
{
if (GlobalPath.PathEnd(CurrentParam))
{
goal.position = GlobalPath.LocalPaths[GlobalPath.LocalPaths.Count - 1].GetPosition(1.0f);
return(goal);
}
CurrentParam = GlobalPath.GetParam(character.position, CurrentParam);
goal.position = GlobalPath.GetPosition(CurrentParam + 0.2f);
return(goal);
}
return(new Goal());
}
