/// <summary>
/// Returns an optimal path from startPosition to endPosition with options.
/// </summary>
/// <returns>The route consisting of a list of cell indexes.</returns>
/// <param name="cellIndices">User provided list to fill with path indices</param>
/// <param name="totalCost">The total accumulated cost for the path</param>
/// <param name="maxSearchCost">Maximum search cost for the path finding algorithm. A value of 0 will use the global default defined by pathFindingMaxCost</param>
/// <param name="maxSteps">Maximum steps for the path. A value of 0 will use the global default defined by pathFindingMaxSteps</param>
public int FindPath(int cellIndexStart, int cellIndexEnd, List <int> cellIndices, out float totalCost, float maxSearchCost = 0, int maxSteps = 0, int cellGroupMask = -1, CanCrossCheckType canCrossCheckType = CanCrossCheckType.Default)
{
totalCost = 0;
if (cellIndices == null)
{
return(0);
}
cellIndices.Clear();
if (cellIndexStart == cellIndexEnd)
{
return(0);
}
Cell startCell = cells[cellIndexStart];
Cell endCell = cells[cellIndexEnd];
if (startCell == null || endCell == null)
{
return(0);
}
bool startCellCanCross = startCell.canCross;
bool endCellCanCross = endCell.canCross;
if (canCrossCheckType == CanCrossCheckType.ignoreCanCrossCheckOnStartAndEndCells)
{
startCell.canCross = endCell.canCross = true;
}
else if (!startCell.canCross || !endCell.canCross)
{
return(0);
}
ComputeRouteMatrix();
finder.Formula = _pathFindingHeuristicFormula;
finder.MaxSteps = maxSteps > 0 ? maxSteps : _pathFindingMaxSteps;
finder.Diagonals = _pathFindingUseDiagonals;
finder.HeavyDiagonalsCost = _pathFindingHeavyDiagonalsCost;
finder.HexagonalGrid = _gridTopology == GRID_TOPOLOGY.Hexagonal;
finder.MaxSearchCost = maxSearchCost > 0 ? maxSearchCost : _pathFindingMaxCost;
finder.CellGroupMask = cellGroupMask;
finder.IgnoreCanCrossCheck = canCrossCheckType == CanCrossCheckType.IgnoreCanCrossCheckOnAllCells;
if (OnPathFindingCrossCell != null)
{
finder.OnCellCross = FindRoutePositionValidator;
}
else
{
finder.OnCellCross = null;
}
List <PathFinderNode> route = finder.FindPath(startCell, endCell, out totalCost, _evenLayout);
startCell.canCross = startCellCanCross;
endCell.canCross = endCellCanCross;
if (route != null)
{
int routeCount = route.Count;
if (_gridTopology == GRID_TOPOLOGY.Irregular)
{
for (int r = routeCount - 2; r >= 0; r--)
{
cellIndices.Add(route[r].PX);
}
}
else
{
for (int r = routeCount - 2; r >= 0; r--)
{
int cellIndex = route[r].PY * _cellColumnCount + route[r].PX;
cellIndices.Add(cellIndex);
}
}
cellIndices.Add(cellIndexEnd);
}
else
{
return(0); // no route available
}
return(cellIndices.Count);
}
/// <summary>
/// Returns an optimal path from startPosition to endPosition with options.
/// </summary>
/// <returns>The route consisting of a list of cell indexes.</returns>
/// <param name="totalCost">The total accumulated cost for the path</param>
/// <param name="maxSearchCost">Maximum search cost for the path finding algorithm. A value of 0 will use the global default defined by pathFindingMaxCost</param>
/// <param name="maxSteps">Maximum steps for the path. A value of 0 will use the global default defined by pathFindingMaxSteps</param>
public List <int> FindPath(int cellIndexStart, int cellIndexEnd, out float totalCost, float maxSearchCost = 0, int maxSteps = 0, int cellGroupMask = -1, CanCrossCheckType canCrossCheckType = CanCrossCheckType.Default)
{
List <int> results = new List <int>();
FindPath(cellIndexStart, cellIndexEnd, results, out totalCost, maxSearchCost, maxSteps, cellGroupMask, canCrossCheckType);
return(results);
}
