void Start()
{
_aiController = GetComponent <BaseAIController>();
_sight = GetComponent <SightBehaviour>();
_sight.PlayerSeen += OnPlayerSeen;
_aiController.IsDoneChasing += OnDoneChasing;
_aiController.Deadened += OnDeath;
}
public void ResolvePath(Vector3 realWorldPosition, Vector3 realWorldTarget,
BaseAIController requestingController)
{
var open = new List <NavNode>();
var closed = new List <NavNode>();
Vector2Int?pseudoGridPosition = GetPseudoPosition(realWorldPosition);
Vector2Int?pseudoTarget = GetPseudoPosition(realWorldTarget);
if (!pseudoGridPosition.HasValue)
{
throw new Exception($"Controller {requestingController.gameObject.name} requested destination to tile position {pseudoTarget} but current position of agent is {requestingController.transform.position} which is invalid!");
}
if (!pseudoTarget.HasValue)
{
throw new Exception($"Controller {requestingController.gameObject.name} requested destination to real world position {realWorldTarget} but that is out of range of the grid!");
}
var node = new NavNode(pseudoGridPosition.Value, realWorldPosition, pseudoTarget.Value);
open.Add(node);
var routeFound = false;
while (open.Count > 0)
{
node = open.OrderBy(x => x.FinalScore).First();
closed.Add(node);
open.Remove(node);
if (closed.Any(x => x.PseudoPosition == pseudoTarget.Value))
{
routeFound = true;
break;
}
List <Vector2Int> adjacentNodePoints = GetAdjacentNodePoints(node.PseudoPosition);
foreach (var point in adjacentNodePoints)
{
if (closed.Any(x => x.PseudoPosition == point))
{
continue;
}
if (PseudoGrid[point.x, point.y].HasValue && open.All(x => x.PseudoPosition != point))
{
open.Add(new NavNode(point, PseudoGrid[point.x, point.y].Value, pseudoTarget.Value, node));
}
else if (PseudoGrid[point.x, point.y].HasValue)
{
var testNode = new NavNode(point, PseudoGrid[point.x, point.y].Value, pseudoTarget.Value, node);
if (testNode.FinalScore < open.First(x => x.PseudoPosition == point).FinalScore)
{
open.First(x => x.PseudoPosition == point).Parent = node;
}
}
}
//yield return null;
}
if (!routeFound)
{
throw new Exception(
$"Somehow, {requestingController.gameObject.name} made a malformed request that escaped the algorithm.");
}
var realWorldPositions = new List <Vector3>();
var destinationNode = closed.First(x => x.PseudoPosition == pseudoTarget);
ResolveParentChain(destinationNode, realWorldPositions);
realWorldPositions.Reverse();
requestingController.Route = realWorldPositions;
// Debug.Log("WORLD ROUTE:");
// foreach (var worldPosition in realWorldPositions)
// {
// Debug.Log(worldPosition);
// }
}
