public void FindSubGoalPath()
{
DebugDrawer.Clear();
// Convert visible grid to memory grid
var grid = GridController.Ground;
var pathGrid = GridController.Path;
var sizeX = GridController.active.size.x;
var sizeY = GridController.active.size.y;
var memoryGrid = createGraph();
// Set grid weights
var start = new Vector2Int(-1, -1);
var end = new Vector2Int(-1, -1);
for (var x = 0; x < sizeX; x++)
{
for (var y = 0; y < sizeY; y++)
{
var pathTile = pathGrid.GetTile(new Vector3Int(x, y, 0));
if (pathTile != null)
{
if (pathTile == GridController.active.start)
{
start = new Vector2Int(x, y);
}
else if (pathTile == GridController.active.end)
{
end = new Vector2Int(x, y);
}
}
}
}
if (start.x == -1 || end.x == -1)
{
Debug.Log("Couldn't find any start or end position");
return;
}
// List<Node> path;
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
SubGoalGrid sgg = new SubGoalGrid(memoryGrid);
sgg.ConstructSubgoals(0, 0, sizeX, sizeY);
sgg.ConstructEdges(0, 0, sizeX, sizeY);
Debug.Log(sgg.subGoals.Count);
sw.Stop();
Debug.Log("Preprocessing took " + sw.ElapsedMilliseconds + "ms");
sgg.DrawSubGoals();
List <Node> path;
var subGoalSearch = new SubGoalAStarSearch(sgg);
sw.Restart();
path = subGoalSearch.GetPath(sgg, start, end);
UnityEngine.Debug.Log("SubGoalSearch Path - Path" + (path == null ? " not " : " ") + "found in : " + sw.ElapsedMilliseconds + " ms");
if (path != null)
{
foreach (var pathTile in path)
{
if (pathTile.x == start.x && pathTile.y == start.y)
{
continue;
}
if (pathTile.x == end.x && pathTile.y == end.y)
{
continue;
}
if (pathTile.parent != null)
{
DebugDrawer.Draw(new Vector2Int(pathTile.parent.x, pathTile.parent.y), new Vector2Int(pathTile.x, pathTile.y), Color.blue);
}
DebugDrawer.DrawCube(new Vector2Int(pathTile.x, pathTile.y), Vector2Int.one, Color.blue);
}
}
}
