public PotentialField FindPath(DijkstraNodeGrid dijkstraNodeNetwork, IPathRequest pathRequest, out bool succes)
{
if (_potentialFieldCache == null || !_potentialFieldCache.TryGetValue(pathRequest, out var potentialField))
{
var pathfindingNetwork = dijkstraNodeNetwork.GetCollisionLayerNetwork(pathRequest.CollisionCategory);
_dijkstraAlgorithm.StartFindPath(pathfindingNetwork, dijkstraNodeNetwork.DefinitionNodeGrid.NodeArray, pathRequest.PathEnd);
_dijkstraAlgorithm.FindPath(pathfindingNetwork, dijkstraNodeNetwork.DefinitionNodeGrid.NodeGrid.Array, pathRequest.PathStart, pathRequest.AgentSize, pathRequest.CollisionCategory);
potentialField = FindPath(dijkstraNodeNetwork, pathfindingNetwork, pathRequest.PathEnd, pathRequest);
_potentialFieldCache?.Add(pathRequest, potentialField);
}
ref var startDefinitionNode = ref dijkstraNodeNetwork.DefinitionNodeGrid.NodeArray[pathRequest.PathStart];
public PotentialField FindPath(DijkstraNodeGrid dijkstraNodeNetwork, IPathRequest pathRequest, out bool succes)
{
try
{
if (pathRequest.AgentSize % 2 == 0)
{
throw new InvalidAgentSizeException("Potential fields only support uneven agent sizes such as 1,3,5 etc.");
}
if (_potentialFieldCache == null || !_potentialFieldCache.TryGetValue(pathRequest, out var potentialField))
{
var sw = Stopwatch.StartNew();
var pathfindingNetwork = dijkstraNodeNetwork.GetCollisionLayerNetwork(pathRequest.CollisionCategory);
var startNode = NodePointer.Dereference(pathRequest.PathStart.Index, pathfindingNetwork);
var targetNode = NodePointer.Dereference(pathRequest.PathEnd.Index, pathfindingNetwork);
if (_dijkstraAlgorithm.FindPath(pathfindingNetwork, targetNode, startNode, pathRequest))
{
potentialField = FindPath(dijkstraNodeNetwork, pathfindingNetwork, targetNode, pathRequest);
}
else
{
potentialField = new PotentialField(dijkstraNodeNetwork.DefinitionNodeGrid.Transformer, (Point2)targetNode.DefinitionNode.Position);
}
_potentialFieldCache?.Add(pathRequest, potentialField);
Debug.WriteLine($"Potentialfield created in {sw.ElapsedMilliseconds} ms.");
}
var nodeWorldPosition = potentialField.GridTransformer.ToWorld(pathRequest.PathStart.Position);
var offset = GridClearanceHelper.GridNodeOffset(pathRequest.AgentSize, dijkstraNodeNetwork.DefinitionNodeGrid.Transformer.Scale);
succes = potentialField.GetHeading(nodeWorldPosition + offset).Length > 0;
return(potentialField);
}
catch (Exception ex)
{
Debug.WriteLine(ex);
Debugger.Break();
succes = false;
return(null);
}
}
