/// <summary>
/// Finds path from start to goal using grid
/// </summary>
/// <param name="start"></param>
/// <param name="goal"></param>
/// <param name="settings"></param>
/// <returns></returns>
public Stack <Vector3> FindGridPath(Vector3 start, Vector3 goal, PathfindingSettings settings)
{
var pathPoints = new Stack <Vector3>();
if (pathfindingType == PathfindingType.navmeshOnly)
{
return(pathPoints);
}
if (chunks == null)
{
return(pathPoints);
}
var tempNodes = new TempNodeDictionary();
var gridStart = GetClosestGridNode(start);
var gridGoal = GetClosestGridNode(goal);
tempNodes.AddNode(gridStart, start);
tempNodes.AddNode(gridGoal, goal);
pathPoints = settings.RunAlgorithm(tempNodes[gridStart], tempNodes[gridGoal], gridSettings.isoLevel, out openNodes, out closedNodes, 50000, gridNodeCount);
tempNodes.Cleanup();
if (settings.benchmark)
{
var lr = GetComponent <LineRenderer>();
lr.positionCount = pathPoints.Count;
lr.SetPositions(pathPoints.ToArray());
}
return(pathPoints);
}
/// <summary>
/// Finds path from start to goal using NavMesh
/// </summary>
/// <param name="start"></param>
/// <param name="goal"></param>
/// <param name="settings"></param>
/// <returns></returns>
public Stack <Vector3> FindGraphPath(Vector3 start, Vector3 goal, PathfindingSettings settings)
{
var pathPoints = new Stack <Vector3>();
if (pathfindingType == PathfindingType.gridOnly)
{
return(pathPoints);
}
if (chunks == null)
{
return(pathPoints);
}
var nodesClosestToHit = new List <Node>();
var hits = GetNavMeshIntersections(start, goal);
if (hits.Count > 1)
{
var tempNodes = new TempNodeDictionary();
for (int i = 0; i < hits.Count - 1; i += 2)
{
//add temp nodes at navmesh hits
nodesClosestToHit.Add(GetClosestGraphNode(hits[i]));
nodesClosestToHit.Add(GetClosestGraphNode(hits[i + 1]));
if (i > 0)
{
tempNodes.AddNode(nodesClosestToHit[i], hits[i]);
//link navmesh exiting hits with entering hits
if (i % 2 == 0)
{
tempNodes[nodesClosestToHit[i]].neighbours.Add(tempNodes[nodesClosestToHit[i - 1]]);
tempNodes[nodesClosestToHit[i - 1]].neighbours.Add(tempNodes[nodesClosestToHit[i]]);
}
}
if (i < hits.Count - 2)
{
tempNodes.AddNode(nodesClosestToHit[i + 1], hits[i + 1]);
}
}
tempNodes.AddNode(nodesClosestToHit[0], start);
tempNodes.AddNode(nodesClosestToHit[hits.Count - 1], goal);
pathPoints = settings.RunAlgorithm(tempNodes[nodesClosestToHit[0]], tempNodes[nodesClosestToHit[hits.Count - 1]], -1, out openNodes, out closedNodes, 50000, gridNodeCount / 100);
tempNodes.Cleanup();
}
else
{
pathPoints.Push(goal);
pathPoints.Push(start);
}
if (settings.benchmark)
{
var lr = GetComponent <LineRenderer>();
lr.positionCount = pathPoints.Count;
lr.SetPositions(pathPoints.ToArray());
}
return(pathPoints);
}
