public bool TryCompletePath(out Vector currTarget)//path through all the cookies one by one and to the exit
{
CurrPath.Clear();
currTarget = new Vector(-1, -1);
if (AllPath == null)
{
AllPath = new List <WayPoint> {
new WayPoint(ModelUsage.MurphLoc, 0)
};
Targets.Clear();
}
TypeOfMap = MapedPoints.Count == 0 ? MapType.MapRoom : MapType.MapTarget;
Target = null;
Map(new WayPoint(ModelUsage.MurphLoc, 0));
if (Target == null)//no target - no way
{
return(false);
}
AddPoint(Target);
if (!RestorePath(Target))
{
return(false);
}
TypeOfMap = MapType.MapCheck;
Map(new WayPoint(ModelUsage.MurphLoc, 0));
foreach (var pathPoint in OptimalPath)
{
ModelUsage.TryMoving(pathPoint);
AllPath.Add(pathPoint);
}
PathValue = GetPathValue();
currTarget = Target.Location;
return(true);
}
// if "ignoreObstacle" is true, pathfinding will ignore all obstacles except GRID_VALUE_CANNOT, grid is only by GRID_VALUE_CANNOT or by GRID_VALUE_GOOD
public bool FindWalkPath(bool _ignoreObstacle, GameObject Obj)
{
if (USE_FAST)
{
mPathFinder = new PathFinderFast(mMapData);
}
else
{
mPathFinder = new PathFinder(mMapData);
}
mPathFinder.Formula = HeuristicFormula.Manhattan;
mPathFinder.Diagonals = true;
mPathFinder.HeavyDiagonals = true;
mPathFinder.HeuristicEstimate = 3;
mPathFinder.PunishChangeDirection = false;
mPathFinder.TieBreaker = false;
mPathFinder.SearchLimit = 10000;
List <PathFinderNode> path = mPathFinder.FindPath(mStart, mEnd, _ignoreObstacle);
if (path == null)
{
mPathFinder = null;
mPathCondition = PathCondition.eNoWay;
return(false);
}
else
{
Point mFirstPoint = new Point(0, 0);
int pathCount = path.Count;
mPathData = new Point[pathCount];
mPathCondition = PathCondition.eGood;
for (int i = 0; i < pathCount; i++)
{
int pathX = path[pathCount - 1 - i].X;
int pathY = path[pathCount - 1 - i].Y;
mPathData[i] = new Point(pathX, pathY);
// define the first wall the path met
if (!_ignoreObstacle &&
mPathCondition == PathCondition.eGood &&
mMapData[pathX, pathY] != PathManager.GRID_VALUE_GOOD)
{
mPathCondition = PathCondition.eWallInPath;
if (mFirstWall == null)
{
mFirstWall = new Point(pathX, pathY);
mFirstWallIndex = i - 1;
}
}
}
// ForTest(mPathData.Length,mPathData,null,Obj);
mPathFinder = null;
return(true);
}
}
