public void init()
{
if (initComplete == false)
{
//set ref
gridScript = Ref.getGridScript();
visibleObstManager = GetComponent <VisibleObstManager>();
managerScript = Ref.getManagerGO().GetComponent <Manager>();
recalculateTime = GetComponent <AgentProps>().cooperationLenght;
spatialAStarScript = GetComponent <SpatialAStar>();
spaceTimeAStarScript = GetComponent <SpaceTimeAStar>();
agent = transform;
followPathScript = agent.GetComponent <FollowPath>();
//saves initial grid in grid var
saveInitalGrid();
spaceTimeAStarScript.init();
spatialAStarScript.init(grid);
spaceTimeAStarScript.setSpacialAStarScript(spatialAStarScript);
managerScript.increaseFrameCount();
//here we switch the role of target and agent
spatialAStarScript.FindPathSpatial(target.position, agent.position, true, null);
path = spaceTimeAStarScript.FindPath(agent.position, target.position, true);
followPathScript.init();
followPathScript.setNewPath(path);
}
initComplete = true;
}
//triggers when predicted obstacle path crosses current agent path
public void recaluclateOnObstaclePathIntercept()
{
//get starting node
Node newStartNode = followPathScript.getNextNodeToBeVisited();
int debugTime = followPathScript.getCurrentTimeFrame();
prevPath = path;
clearPathInGrid();
//get new path
if (newStartNode.worldPosition != target.position)
{
managerScript.increaseFrameCount();
List <Node> currentPath = spaceTimeAStarScript.FindPath(newStartNode.worldPosition, target.position, true);
if (currentPath != null)
{
path = currentPath;
//the path is primed so that it get's swapped out only when an agent reaches the center of his next cell
followPathScript.primeNewPath(currentPath);
//this is done so that if there is a second recalc before the path is reset the obstacle path won't be shifted
//as it has already been reset by the previous recalc
followPathScript.resetLastFrame();
}
//this means agent got stuck and restart of spatial A* is needed
else
{
restartPath();
return;
}
}
//mark path
foreach (Node node in path)
{
gridScript.markNode(node, false, true);
}
//restart time for getting new chunk
prevTime = Time.time;
}