/// <summary>
/// Run the path between the two positions
/// </summary>
/// <param name="start"> the starting position </param>
/// <param name="end"> the ending position </param>
/// <param name="path"> The path number to create </param>
void runPathCreation(Vector3 start, Vector3 end, int path)
{
PathfindingParameters pfm = pfo.pathParameters;
pfm.pathFinderObject = null;
pfm.startPosition = start;
pfm.EndPosition = end;
Paths[path].Init(pfm);
}
public PathfindingResult FindPath(PathfindingParameters parameters)
{
PathfindingResult result = new PathfindingResult();
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
Node startNode = grid.GetNodeAt(parameters.startPos);
Node endNode = grid.GetNodeAt(parameters.endPos);
Node bestNode = null;
Heap<Node> openList = new Heap<Node>(grid.gridMaxSize);
HashSet<Node> closedList = new HashSet<Node>();
if (drawPathfinding)
grid.ResetColors();
openList.Add(startNode);
while (openList.Count > 0)
{
Node currentNode = openList.RemoveFirst();
if (currentNode == endNode || (parameters.endNodes != null && parameters.endNodes.Contains(currentNode)))
{
sw.Stop();
//print(sw.ElapsedMilliseconds + "ms");
result.path = GetPath(RetracePath(currentNode, startNode), parameters);
return result;
}
if (drawPathfinding)
currentNode.color = Color.red;
closedList.Add(currentNode);
foreach (Node n in grid.GetNeighbours(currentNode))
{
//if (!n.walkable || closedList.Contains(n))
if (!grid.GetWalkable(n, parameters.radius) || closedList.Contains(n))
continue;
int newGCost = currentNode.gCost + grid.GetDistance(n, currentNode);
if (newGCost < n.gCost || !openList.Contains(n))
{
n.gCost = newGCost;
n.hCost = grid.GetDistance(n, endNode);
n.parent = currentNode;
if (drawPathfinding)
n.color = Color.yellow;
if (bestNode == null || n.hCost < bestNode.hCost)
bestNode = n;
if (!openList.Contains(n))
openList.Add(n);
else
openList.UpdateItem(n);
}
}
}
sw.Stop();
//print("no path found, " + sw.ElapsedMilliseconds + "ms");
if (bestNode != null)
result.path = GetPath(RetracePath(bestNode, startNode), parameters);
else
result.path = new List<Vector3>();
return result;
}
public static void RequestPath(PathfindingParameters parameters, Action<PathfindingResult> callback)
{
requests.Enqueue(new PathfindingRequest(parameters, callback));
if (!isProcessing)
instance.StartCoroutine("CalculPaths");
}
public PathfindingRequest(PathfindingParameters _parameters, Action<PathfindingResult> _callback)
{
parameters = _parameters;
callback = _callback;
}
public List<Vector3> GetPath(List<Node> path, PathfindingParameters parameters)
{
if (path.Count > 0)
{
List<Vector3> bestPath = BestSmooth(GetAllNodePositions(path), parameters.radius);
bestPath.RemoveAt(0);
if (grid.InBounds(parameters.endPos))
{
if (!grid.IsObstacle(parameters.endPos, parameters.radius))
{
bestPath.RemoveAt(bestPath.Count - 1);
bestPath.Add(parameters.endPos);
}
}
waypoints = bestPath;
return bestPath;
}
return new List<Vector3>();
}
