private NodeGrid GetClosestGrid()
{
NodeGrid closestGrid = grids[0];
if (grids.Count == 1)
{
return(closestGrid);
}
float smallestDistance = Mathf.Infinity;
int gridsCount = grids.Count - 1;
for (int i = 0; i < gridsCount; i++)
{
float gridSqrDistance = GetSqrDistance(grids[i].transform.position,
PathfinderTransform.position);
if (gridSqrDistance <= MinimumDistance)
{
return(grids[i]);
}
else if (gridSqrDistance < smallestDistance)
{
closestGrid = grids[i];
}
}
return(closestGrid);
}
/// <summary>
/// Find a path for a character and start moving along the path.
/// </summary>
/// <param name="objectToMove"></param>
/// <param name="start"></param>
/// <param name="destination"></param>
/// <param name="moveSpeed"></param>
/// <param name="turnSpeed"></param>
/// <param name="objectRadius"></param>
public async void Move(Transform objectToMove, Vector3 start, Vector3 destination,
float moveSpeed, float turnSpeed)
{
Stop();
NodeGrid grid = GetClosestGrid();
while (grid.IsBeingUsed && objectToMove != null)
{
await Task.Delay(TimeSpan.FromMilliseconds(Time.deltaTime *UpdateMultiplier));
}
grid.IsBeingUsed = true;
List <Vector3> path = await Task.Run(() => GetPath(start, destination, grid));
grid.IsBeingUsed = false;
if (path.Count > 0)
{
canMove = true;
path = await SmoothPath(path);
await MoveAlongPath(objectToMove, path, moveSpeed, turnSpeed);
}
}
private async Task <List <Vector3> > GetPath(Vector3 start, Vector3 goal, NodeGrid grid)
{
PriorityQueue <Node> openQueue = new PriorityQueue <Node>();
List <Node> modifiedNodes = new List <Node>();
Node[,] nodeArray = grid.GetNodeArray();
Node[,] nodeArrayOther = grid.GetNodeArrayOther();
openQueue.Push(GetStartingNode(nodeArray, nodeArrayOther, start).Result);
while (openQueue.Count > 0)
{
Node currentNode = openQueue.Pop();
if (GetSqrDistance(goal, currentNode.Position) <= MinimumDistance)
{
List <Vector3> path = new List <Vector3>();
Node pathNode = currentNode;
while (!(pathNode is null))
{
path.Add(pathNode.Position);
pathNode = pathNode.ParentNode;
}
await ResetPathfinder(modifiedNodes);
path.Reverse();
path.Add(goal);
return(path);
}
currentNode.NodeState = NodeState.Closed;
int nodeColumn = (int)currentNode.ArrayPosition.x;
int nodeRow = (int)currentNode.ArrayPosition.y;
// North
Task north = CalculateChild(GetChild(nodeColumn, nodeRow - 1,
nodeArray, nodeArrayOther), currentNode, openQueue, modifiedNodes, goal);
// North-East
Task northEast = CalculateChild(GetChild(nodeColumn + 1, nodeRow - 1,
nodeArray, nodeArrayOther), currentNode, openQueue, modifiedNodes, goal);
// East
Task east = CalculateChild(GetChild(nodeColumn + 1, nodeRow,
nodeArray, nodeArrayOther), currentNode, openQueue, modifiedNodes, goal);
// South-East
Task southEast = CalculateChild(GetChild(nodeColumn + 1, nodeRow + 1,
nodeArray, nodeArrayOther), currentNode, openQueue, modifiedNodes, goal);
// South
Task south = CalculateChild(GetChild(nodeColumn, nodeRow + 1,
nodeArray, nodeArrayOther), currentNode, openQueue, modifiedNodes, goal);
// South-West
Task southWest = CalculateChild(GetChild(nodeColumn - 1, nodeRow + 1,
nodeArray, nodeArrayOther), currentNode, openQueue, modifiedNodes, goal);
// West
Task west = CalculateChild(GetChild(nodeColumn - 1, nodeRow,
nodeArray, nodeArrayOther), currentNode, openQueue, modifiedNodes, goal);
// North-West
Task northWest = CalculateChild(GetChild(nodeColumn - 1, nodeRow - 1,
nodeArray, nodeArrayOther), currentNode, openQueue, modifiedNodes, goal);
await Task.WhenAll(north, northEast, east, southEast, south, southWest, west, northWest);
}
await ResetPathfinder(modifiedNodes);
#if UNITY_EDITOR
Debug.Log("No path found. Check that grids are available for pathfinding.");
#endif
return(new List <Vector3>());
}
