/**
* reset
*/
public void Reset()
{
PathFinding.AStarAgent agent = _agent as PathFinding.AStarAgent;
if (agent != null && agent._asm != null)
{
_goal = null;
}
_goal = null; //.Reset();
_map = null; //.Reset();
_storage = null; //.Reset();
#if UNITY_EDITOR && !MULTI_THREAD
if (PathFinding.PathFindingManager.DEBUG)
{
if (_agent != null && ((PathFinding.AStarAgent)_agent)._asm == this)
{
// UnityEngine.Debug.LogError("reset path error");
}
}
#endif
_inQueue = false;
_revsCurrentRun = 0;
_curPosIdx = -1;
_agent = null;
_maxRevolutions = C_MaxRevolutions;
ResetMachineData();
#if ASTARDEBUG
_totalRevs = 0;
#endif
}
/// <summary>
/// RunAStar
/// </summary>
public void RunAStar()
{
_revsCurrentRun = 0;
PathFinding.AStarAgent agent = _agent as PathFinding.AStarAgent;
_curPosIdx = -1;
IInt2 curPos = IInt2.zero;
if (agent != null)
{
curPos.x = -1;
curPos.y = -1;
_curPosIdx = agent._map.GetGridNodeId(agent._behaviour.position);
curPos = agent._map.GetGridPos(_curPosIdx);
}
while (_goal != null)
{
//Get the node with the min f from Storage
_goal.CurrentNode = _storage.RemoveCheapestOpenNode(_map);
#if UNITY_EDITOR && !MULTI_THREAD
if (PathFinding.PathFindingManager.DEBUG)
{
if (_goal.CurrentNode != null)
{
UnityEngine.Vector3 pos = CustomMath.TsVecToVector3(((PathFinding.GridMap)_map).GetWorldPosition(_goal.CurrentNode.NodeID));
UnityEngine.Debug.DrawLine(pos - UnityEngine.Vector3.right * 0.2f, pos + UnityEngine.Vector3.right * 0.2f, UnityEngine.Color.red, 1);
}
}
#endif
if (_totalRevs > MAX_REVS)//need find another target
{
_goal.CurrentNode = null;
}
//Add the node to the closed list
if (_goal.CurrentNode != null && _map.CheckNodeValid(_goal.CurrentNode))
{
_storage.AddToClosedSet(_goal.CurrentNode, _map);
}
else
{
IsWorking = false;
break;
}
//_currentNode = newNode;
if (_goal.IsAStarFinished(_goal.CurrentNode))
{
IsWorking = false;
break;
}
int numberOfNeighbours = _map.GetNeighboursCount(_goal.CurrentNode);
//scan its neighbours
for (short i = 0; i < numberOfNeighbours; i++)
{
AStarNode neighbour = _storage.GetAStarNeighbour(_goal.CurrentNode, i, _searchId, _map, curPos);
if (neighbour != null)
{
LinkChild(_goal.CurrentNode, neighbour, i);
}
}
#if ASTARDEBUG
_totalRevs++;
#endif
if (_maxRevolutions >= 0 && _revsCurrentRun++ >= _maxRevolutions)
{
break;
}
if (ShouldPause(_revsCurrentRun))
{
break;
}
}
}
