private void ProcessBest()
{
float shortestDist = distanceFromStartToTarget * maxDistToTravelMultiplier + maxDistToTravelAfterDirect;
Vector3Int bestPos = FailedPos;
foreach (var tile in open)
{
if (tile.Value.g + tile.Value.h < shortestDist)
{
bestPos = tile.Key;
shortestDist = tile.Value.g + tile.Value.h;
}
}
Heuristics parent;
open.TryGetValue(bestPos, out parent);
if (target.Distance2(ref bestPos) <= range * range)
{
PathComplete(bestPos);
status = Status.succeeded;
return;
}
if (bestPos == FailedPos)
{
status = Status.failed;
}
ProcessTile(bestPos);
}
public PathFinder(Vector3Int start, Vector3Int target, World world, float range = 0.5f, int entityHeight = 1)
{
// Don't search the path if our target is too close
if (start.Distance2(ref target) <= range * range)
{
return;
}
path = new List <Vector3Int>();
open = new Dictionary <Vector3Int, Heuristics>();
closed = new Dictionary <Vector3Int, Heuristics>();
this.world = world;
this.range = range;
this.entityHeight = entityHeight;
this.start = start;
this.target = target;
distanceFromStartToTarget = start.Distance2(ref target);
open.Add(start, new Heuristics(0, distanceFromStartToTarget, start));
status = Status.working;
WorkPoolManager.Add(
new ThreadPoolItem <PathFinder>(
Globals.WorkPool,
arg =>
{
arg.ComputePath();
},
this
),
false);
}
