/// Finds shortest path between Nodes.
/// Once the path is found, it will return the path as List of Positions ( not Nodes, but vector3. If you need Nodes, use FindShortestPathOfNodes).
/// <returns> Returns list of **Positions**</returns>
/// <param name="startNodeID">Find the path from this node</param>
/// <param name="endNodeID">Find the path to this node</param>
/// <param name="pathType">Path type. It can be a straight line or curved path</param>
/// <param name="executionType">Synchronous is immediate and locks the control till path is found and returns the path.
/// Asynchronous type runs in coroutines with out locking the control. If you have more than 50 Nodes, Asynchronous is recommended</param>
/// <param name="searchMode"> This is still WIP. For now, Intermediate and Complex does a tad bit more calculations to make the path even shorter</param>
/// <param name="OnPathFound">Callback once the path is found</param>
public static void FindShortestPathOfPoints(this PathFinder manager, Vector3 startPoint, Vector3 endPoint, PathLineType pathType, Execution executionType, SearchMode searchMode, System.Action <List <Vector3> > OnPathFound)
{
PathFollowerUtility.FindShortestPathOfPoints_Internal(manager, startPoint, endPoint, pathType, executionType, searchMode, OnPathFound);
}
internal static void FindShortestPathOfPoints_Internal(PathFinder manager, Vector3 startPoint, Vector3 endPoint, PathLineType pathType, Execution execution, SearchMode searchMode, System.Action <List <Vector3> > OnPathFound)
{
bool makeItMoreAccurate = searchMode == SearchMode.Intermediate || searchMode == SearchMode.Complex;
int nearestPointFromStart = manager.FindNearestNode(startPoint);
int nearestPointFromEnd = -1;
if (nearestPointFromStart != -1)
{
nearestPointFromEnd = manager.FindNearestNode(endPoint);
}
if (QPathFinder.Logger.CanLogInfo)
{
QPathFinder.Logger.LogInfo("Nearest point from start" + startPoint + " is " + nearestPointFromStart, true);
}
if (QPathFinder.Logger.CanLogInfo)
{
QPathFinder.Logger.LogInfo("Nearest point from end:" + endPoint + " is " + nearestPointFromEnd, true);
}
if (nearestPointFromEnd == -1 || nearestPointFromStart == -1)
{
if (QPathFinder.Logger.CanLogError)
{
QPathFinder.Logger.LogError("Could not find path between " + nearestPointFromStart + " and " + nearestPointFromEnd, true);
}
OnPathFound(null);
return;
}
float startTime = Time.realtimeSinceStartup;
System.Action <List <Node> > onPathOfNodesFound = delegate(List <Node> nodes)
{
if (nodes == null || nodes.Count == 0)
{
OnPathFound(null);
return;
}
List <System.Object> allNodes = new List <System.Object>();
if (nodes != null)
{
foreach (var a in nodes)
{
allNodes.Add(a);
}
}
if (QPathFinder.Logger.CanLogInfo)
{
QPathFinder.Logger.LogInfo("Search Mode " + searchMode.ToString() + " opted", true);
}
if (makeItMoreAccurate)
{
if (allNodes.Count > 1)
{
Vector3 shortestPointOnPath;
int nearestNode = -1;
Path currentPath = null;
int shortestPathID = -1;
{
nearestNode = ((Node)allNodes[0]).autoGeneratedID;
shortestPathID = -1;
currentPath = manager.graphData.GetPathBetween(GetNodeFromNodeOrVector(allNodes, 0), GetNodeFromNodeOrVector(allNodes, 1));
if (currentPath != null)
{
shortestPointOnPath = GetClosestPointOnAnyPath(nearestNode, manager, startPoint, out shortestPathID);
if (shortestPathID == currentPath.autoGeneratedID)
{
allNodes[0] = shortestPointOnPath;
}
else
{
allNodes.Insert(0, shortestPointOnPath);
}
}
else
{
if (QPathFinder.Logger.CanLogError)
{
QPathFinder.Logger.LogInfo("Error occured while finding path");
}
}
}
{
shortestPathID = -1;
nearestNode = ((Node)allNodes[allNodes.Count - 1]).autoGeneratedID;
currentPath = manager.graphData.GetPathBetween(GetNodeFromNodeOrVector(allNodes, allNodes.Count - 2), GetNodeFromNodeOrVector(allNodes, allNodes.Count - 1));
if (currentPath != null)
{
shortestPointOnPath = GetClosestPointOnAnyPath(nearestNode, manager, endPoint, out shortestPathID);
if (shortestPathID == currentPath.autoGeneratedID)
{
allNodes[allNodes.Count - 1] = shortestPointOnPath;
}
else
{
allNodes.Add(shortestPointOnPath);
}
}
else
{
if (QPathFinder.Logger.CanLogError)
{
QPathFinder.Logger.LogInfo("Error occured while finding path");
}
}
}
}
else
{
if (QPathFinder.Logger.CanLogWarning)
{
QPathFinder.Logger.LogWarning("Unable to get the best result due to less node count", true);
}
}
}
List <Vector3> path = null;
{
allNodes.Insert(0, startPoint);
allNodes.Add(endPoint);
path = (pathType == PathLineType.Straight ? GetStraightPathPoints(allNodes) : GetCatmullRomCurvePathPoints(allNodes));
}
if (QPathFinder.Logger.CanLogInfo)
{
for (int i = 1; i < path.Count; i++)
{
Debug.DrawLine(path[i - 1], path[i], Color.red, QPathFinder.Logger.DrawLineDuration);
}
}
OnPathFound(path);
};
manager.FindShortestPathOfNodes(nearestPointFromStart, nearestPointFromEnd, execution, onPathOfNodesFound);
}
/// Finds shortest path between Nodes.
/// Once the path is found, it will return the path as List of Positions (not Nodes, but vector3. If you need Nodes, use FindShortestPathOfNodes).
/// <returns> Returns list of **Positions**</returns>
/// <param name="startNodeID">Find the path from this node</param>
/// <param name="endNodeID">Find the path to this node</param>
/// <param name="pathType">Path type. It can be a straight line or curved path</param>
/// <param name="executionType">Synchronous is immediate and locks the control till path is found and returns the path.
/// Asynchronous type runs in coroutines without locking the control. If you have more than 50 Nodes, Asynchronous is recommended</param>
/// <param name="OnPathFound">Callback once the path is found</param>
public static void FindShortestPathOfPoints(this PathFinder manager, int startNodeID, int endNodeID, PathLineType pathType, Execution executionType, System.Action <List <Vector3> > OnPathFound)
{
PathFollowerUtility.FindShortestPathOfPoints_Internal(manager, startNodeID, endNodeID, pathType, executionType, OnPathFound);
}
//
// *** PRIVATE AND INTERNAL ***
#region PRIVATE AND INTERNAL
internal static void FindShortestPathOfPoints_Internal(PathFinder manager, int startNodeID, int endNodeID, PathLineType pathType, Execution execution, System.Action <List <Vector3> > OnPathFound)
{
int nearestPointFromStart = startNodeID;
int nearestPointFromEnd = endNodeID;
if (nearestPointFromEnd == -1 || nearestPointFromStart == -1)
{
if (QPathFinder.Logger.CanLogError)
{
QPathFinder.Logger.LogError("Could not find path between " + nearestPointFromStart + " and " + nearestPointFromEnd, true);
}
OnPathFound(null);
return;
}
float startTime = Time.realtimeSinceStartup;
System.Action <List <Node> > onPathOfNodesFound = delegate(List <Node> nodes)
{
if (nodes == null || nodes.Count == 0)
{
OnPathFound(null);
}
List <System.Object> allNodes = new List <System.Object>();
List <Vector3> path = null;
if (nodes != null)
{
foreach (var a in nodes)
{
allNodes.Add(a.Position);
}
}
path = (pathType == PathLineType.Straight ? GetStraightPathPoints(allNodes) : GetCatmullRomCurvePathPoints(allNodes));
if (QPathFinder.Logger.CanLogInfo)
{
for (int i = 1; i < path.Count; i++)
{
Debug.DrawLine(path[i - 1], path[i], Color.red, QPathFinder.Logger.DrawLineDuration);
}
}
OnPathFound(path);
};
manager.FindShortestPathOfNodes(nearestPointFromStart, nearestPointFromEnd, execution, onPathOfNodesFound);
}
