private void CompleteTask(PathFinderTask task, int[,] hopsMatrix, int size)
{
Coordinate coord = task.ClosestToGoal;
int row = coord.Row;
int col = coord.Col;
List <Coordinate> path = new List <Coordinate>();
path.Add(coord);
int minHops = hopsMatrix[row, col];
int minRow = 0;
int minCol = 0;
Coordinate minCoord = new Coordinate();
while (minHops != 0)
{
bool canMove = false;
for (int r = -1; r <= 1; r++)
{
for (int c = -1; c <= 1; c++)
{
int s = r + c;
if (s != -1 && s != 1)
{
continue;
}
int prevRow = row + r;
int prevCol = col + c;
if (prevCol < 0 || prevRow < 0 || prevRow >= size || prevCol >= size)
{
continue;
}
int hops = hopsMatrix[prevRow, prevCol];
if (hops == (minHops - 1))
{
Coordinate prevCoord = GetCoordinate(task, prevRow, prevCol);
Coordinate modifiedCoord;
VoxelData notUsed;
if (TryToMove(false, task, prevCoord, coord, out modifiedCoord, out notUsed)) //possible errors here (yes you were right... infinite loop if try to move failed?
{
minHops = hops;
minRow = prevRow;
minCol = prevCol;
minCoord = prevCoord;
canMove = true;
}
}
}
}
if (!canMove)
{
//if can't move clear path
path.Clear();
for (int r = -1; r <= 1; r++)
{
for (int c = -1; c <= 1; c++)
{
int s = r + c;
if (s != -1 && s != 1)
{
continue;
}
int prevRow = row + r;
int prevCol = col + c;
if (prevCol < 0 || prevRow < 0 || prevRow >= size || prevCol >= size)
{
continue;
}
int hops = hopsMatrix[prevRow, prevCol];
if (hops == (minHops - 1))
{
//take first appropriate coordinate
Coordinate prevCoord = GetCoordinate(task, prevRow, prevCol);
minHops = hops;
minRow = prevRow;
minCol = prevCol;
minCoord = prevCoord;
canMove = true;
break;
}
}
}
}
if (canMove)
{
row = minRow;
col = minCol;
coord = minCoord;
path.Add(coord);
}
else
{
//if still can't move then something went wrong and infinite loop take place here
Debug.LogError("Infinite Loop");
break; //we break this loop
}
}
path.Reverse();
task.SetCompleted(path.ToArray());
}
