public PathRequest(IPathRequester pathRequester, PathfindingMarker startMarker, PathfindingMarker endMarker, float maxJumpHeight)
{
this.pathRequester = pathRequester;
this.startMarker = startMarker;
this.endMarker = endMarker;
this.maxJumpHeight = maxJumpHeight;
}
public void RequestPath(IPathRequester pathRequester, Vector3 startPoint, Vector3 endPoint, float maxJumpHeight)
{
PathfindingMarker startMarker = _grid.FindNearestMarker(startPoint);
PathfindingMarker endMarker = _grid.FindNearestMarker(endPoint);
Logging.Log($"Trying to move from {startMarker.name} to {endMarker.name}!");
RequestPath(pathRequester, startMarker, endMarker, maxJumpHeight);
}
public Node(PathfindingMarker newMarker, float newG = float.MaxValue, float newH = float.MaxValue)
{
marker = newMarker;
H = newG;
G = newH;
parentNode = null;
childNodes = new List <Node>();
}
private void RequestPath(PathfindingMarker destinationMarker)
{
EndAllPathfinders();
workInProgressPath = new List <PathfindingMarker> [1];
CurrentPathfinders = new IPathfinder[1];
pathfindingManager.RequestPath(this, transform.position, destinationMarker, highestReachableRelativeAltitude);
}
private IEnumerable <Node> TurnAvailableConnectedMarkersIntoNodes(PathfindingMarker marker)
{
IEnumerable <PathfindingMarker> availableConnectedMarkers = marker.GetAvailableConnectedMarkers(_pathRequest.maxJumpHeight);
if (availableConnectedMarkers == null)
{
return(null);
}
return(from currMarker in availableConnectedMarkers
select GetOrAddMarkerToDictionary(currMarker));
}
private Node GetOrAddMarkerToDictionary(PathfindingMarker marker)
{
Node node = GetNodeFromMarker(marker);
if (node != null)
{
return(node);
}
node = new Node(marker);
AddToMarkerNodeDictionary(marker, node);
return(node);
}
private void FindPathsViaCoroutines()
{
int pathRequestsCount = _pathRequests.Count;
if (pathRequestsCount != 0)
{
Logging.Log($"Searching for {pathRequestsCount} paths");
foreach (PathRequest pathRequest in _pathRequests)
{
const int defaultIndex = 0;
var newPathfinder = AStarMarkerPathFinder.CreateInstance(pathRequest, pathfindingChecksPerFramePerFinder, defaultIndex);
pathRequest.pathRequester.CurrentPathfinders = new IPathfinder[] { newPathfinder };
StartPathfinderCoroutine(newPathfinder);
}
_pathRequests.Clear();
}
int multiPathRequestsCount = _multiPathRequests.Count;
if (multiPathRequestsCount != 0)
{
Logging.Log($"Searching for {multiPathRequestsCount} multiPaths");
foreach (MultiPathRequest multiPathRequest in _multiPathRequests)
{
int requestAmount = multiPathRequest.markers.Count - 1;
Logging.Log($"Multipath has {requestAmount} number of requests");
IPathRequester pathRequester = multiPathRequest.pathRequester;
for (var index = 0; index < requestAmount; index++)
{
PathfindingMarker currStartMarker = multiPathRequest.markers[index];
PathfindingMarker currEndMarker = multiPathRequest.markers[index + 1];
var newPathRequest = new PathRequest(pathRequester, currStartMarker, currEndMarker, multiPathRequest.maxJumpHeight);
var newPathfinder = AStarMarkerPathFinder.CreateInstance(newPathRequest, pathfindingChecksPerFramePerFinder, index);
pathRequester.CurrentPathfinders[index] = newPathfinder;
StartPathfinderCoroutine(newPathfinder);
}
}
}
_multiPathRequests.Clear();
}
public void RequestMultiPath(IPathRequester pathRequester, Vector3 startPoint, IEnumerable <Vector3> listOfPoints, float maxJumpHeight)
{
PathfindingMarker startMarker = _grid.FindNearestMarker(startPoint);
if (startMarker == null)
{
Logging.LogWarning("Request MultiPath marker is null!");
return;
}
List <PathfindingMarker> listOfMarkersToGoThrough = listOfPoints.Select(point => _grid.FindNearestMarker(point)).ToList();
RequestMultiPath(pathRequester, startMarker, listOfMarkersToGoThrough, maxJumpHeight);
}
protected PathfindingMarker InstantiateMarker(string markerName, Vector3 markerPos, Transform parent)
{
var newMarker = PathfindingMarker.CreateInstance(markerName, grid, markerPos, parent, creationHeightAboveFloor);
GameObject newGObj = newMarker.gameObject;
var boxCollider = newGObj.AddComponent <BoxCollider>();
boxCollider.size = grid.minimumOpenAreaAroundMarkers / 2;
boxCollider.isTrigger = true;
newGObj.layer = markerLayerMask.GetLayerInt();
return(newMarker);
}
public override PathfindingMarker RequestPathToRandomLocationWithinDistance(float distance)
{
// This is dumb (I get a random point, and then ask for a marker near that point, then get that marker's position and request a path to that position,
// which in turn looks for the marker near that position)
// Logically I would create a separate 'RequestPath' that takes in a PathfindingMarker (and that's easy),
// BUT... I am fully planning on creating a separate non-marker-based pathfinding system at some point in the near-future,
// therefore I don't want to create marker-based functions in the AiController directly.
PathfindingMarker randomMarker = grid.FindRandomMarkerWithinDistance(transform.position, distance);
RequestPath(randomMarker.transform.position);
return(null);
}
private void InstantiateMarker(string markerName, Vector3 markerPos, Vector3 markerSize)
{
// var newMarker = PathfindingMarker.CreateInstance(markerName, ref grid);
var newMarker = PathfindingMarker.CreateInstance(markerName + " " + grid.markers.Count, ref grid);
newMarker.transform.position = markerPos;
newMarker.transform.SetParent(gridTransform);
var newMarkerCollider = newMarker.gameObject.AddComponent <BoxCollider>();
newMarkerCollider.size = markerSize;
// newMarkerCollider.isTrigger = true;
Logging.Log("");
Logging.Log("");
Logging.Log("");
Logging.Log("");
Logging.Log("INSTANTIATED MARKER #" + (grid.markers.Count - 1) + " at position " + markerPos.ToString("F4") + ", with size " + markerSize.ToString("F4"));
Logging.Log("");
Logging.Log("");
Logging.Log("");
Logging.Log("");
}
// ReSharper disable once SuggestBaseTypeForParameter
private Node GetNodeFromMarker(PathfindingMarker marker)
{
_markerNodeDictionary.TryGetValue(marker, out Node node);
return(node);
}
protected void GetNextMarkerInPath()
{
currentMarker = currentPath.Dequeue();
// Logging.Log($"Current marker is now {currentMarker.name}");
}
public void RequestPath(IPathRequester pathRequester, PathfindingMarker startMarker, PathfindingMarker endMarker, float maxJumpHeight)
{
_pathRequests.Add(new PathRequest(pathRequester, startMarker, endMarker, maxJumpHeight));
}
// ReSharper disable once SuggestBaseTypeForParameter
private void AddToMarkerNodeDictionary(PathfindingMarker marker, Node node)
{
_markerNodeDictionary.Add(marker, node);
}
public void RequestPath(IPathRequester pathRequester, Vector3 startPoint, PathfindingMarker endMarker, float maxJumpHeight)
{
PathfindingMarker startMarker = _grid.FindNearestMarker(startPoint);
RequestPath(pathRequester, startMarker, endMarker, maxJumpHeight);
}
public void RequestMultiPath(IPathRequester pathRequester, PathfindingMarker startMarker, List <PathfindingMarker> listOfMarkers, float maxJumpHeight)
{
_multiPathRequests.Add(new MultiPathRequest(pathRequester, listOfMarkers, maxJumpHeight));
}
