public override TargetGoal Decompose(KinematicData character, TargetGoal goal)
{
if (!goal.hasPosition)
return new TargetGoal();
if (lastGoal == null || !lastGoal.position.Equals(goal.position)) {
Astar = new NodeArrayAStarPathFinding(Graph, Heuristic);
Astar.InitializePathfindingSearch(character.position, goal.position);
CurrentParam = 0.0f;
this.lastGoal = goal;
}
GlobalPath currentSolution;
if (Astar.InProgress)
{
var finished = Astar.Search(out currentSolution, true);
if (finished && currentSolution != null)
{
this.AStarSolution = currentSolution;
this.GlobalPath = StringPullingPathSmoothing.SmoothPath(character, currentSolution);
this.GlobalPath.CalculateLocalPathsFromPathPositions(character.position);
// gets first node
goal.position = this.GlobalPath.LocalPaths[0].EndPosition;
return goal;
}
/* else if(currentSolution != null && currentSolution.IsPartial)
{
goal.position = currentSolution.PathPositions[0];
return goal;
}*/
}
else
{
if (GlobalPath.PathEnd(CurrentParam))
{
goal.position = GlobalPath.LocalPaths[GlobalPath.LocalPaths.Count - 1].GetPosition(1.0f);
return goal;
}
CurrentParam = GlobalPath.GetParam(character.position, CurrentParam);
CurrentParam += GlobalPath.CalculateOffset(CurrentParam);
goal.position = GlobalPath.GetPosition(CurrentParam);
return goal;
}
return new TargetGoal();
}
public override Goal Decompose(KinematicData character, Goal goal)
{
AStarPathfinding Astar = new NodeArrayAStarPathFinding(Graph, Heuristic);
Astar.InitializePathfindingSearch(character.position, goal.position);
// In goal, ends
if (Astar.StartNode.Equals(Astar.GoalNode)) {
return goal;
}
// else, plan
GlobalPath currentSolution;
if (Astar.InProgress)
{
var finished = Astar.Search(out currentSolution, true);
if (finished && currentSolution != null)
{
// gets first node
goal.position = currentSolution.PathNodes[0].Position;
return goal;
}
}
return goal;
}
