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;
}
