private void Recalculate(bool changeTarget)
{
List <GameObject> agents = new List <GameObject>();
agents.Add(gameObject);
// Source to Target
if (changeTarget || Target != null)
{
Destroy(Target);
Target = SpawnAgentsScript.Spawn(false, agents, color);
replans = 0; // can't forget this
}
var edge = DrawVisibilityGraphScript.DrawVisibilityEdge(
transform.position, Target.transform.position,
Color.green, false, true, false, true
);
Path = new List <Vector2>();
if (edge != null)
{
Path.Add(edge[1]);
}
if (Path.Count > 0) // if there's a direct path between two points, no need to even compute A*, just walk the path!
{
return;
}
// Clone a fresh new graph
Graph = new VisibilityGraph();
Graph.Vertices = OriginalGraph.ClonedVertices();
Graph.AdjList = OriginalGraph.ClonedAdjList();
Graph.SetSource(transform.position);
Graph.SetTarget(Target.transform.position);
// Debug.DrawLine(transform.position, Target, color, 100);
// Graph.PrintNumEdges();
// Edges from source/target to boundaries/obstacles
DrawVisibilityGraphScript.DrawFromBoundaries(
transform.position, Target.transform.position, color, Graph
);
DrawVisibilityGraphScript.DrawFromObstacles(
transform.position, Target.transform.position, color, Graph
);
// Graph.PrintNumEdges();
/*
* if (Graph.AdjList.ContainsKey(transform.position)) {
* Debug.Log(Graph.AdjList[transform.position].Count);
* } else {
* Debug.Log("Nada");
* }
*/
if (
Graph.AdjList.ContainsKey(transform.position) &&
Graph.AdjList[transform.position].Count > 0 &&
Graph.AdjList.ContainsKey(Target.transform.position) &&
Graph.AdjList[Target.transform.position].Count > 0
)
{
// Debug.Log("A Star time.");
// Debug.Log(Time.realtimeSinceStartup);
float planningTime = Time.realtimeSinceStartup;
Path = Graph.AStar();
planningTime = Time.realtimeSinceStartup - planningTime;
StatsScript.TotalPlanningTime += planningTime;
// Debug.Log(Time.realtimeSinceStartup);
}
}