public void Execute()
{
DynamicBuffer <PathPosition> pathPositionBuffer = pathPositionBufferFromEntity[entity];
pathPositionBuffer.Clear();
PathfindingParams pathfindingParams = pathfindingParamsComponentDataFromEntity[entity];
int endNodeIndex = CalculateIndex(pathfindingParams.endPosition.x, pathfindingParams.endPosition.y, gridSize.x);
OldPathNode endNode = pathNodeArray[endNodeIndex];
if (endNode.cameFromNodeIndex == -1)
{
// Didn't find a path!
//Debug.Log("Didn't find a path!");
pathFollowComponentDataFromEntity[entity] = new PathFollow {
pathIndex = -1
};
}
else
{
// Found a path
CalculatePath(pathNodeArray, endNode, pathPositionBuffer);
pathFollowComponentDataFromEntity[entity] = new PathFollow {
pathIndex = pathPositionBuffer.Length - 1
};
}
}
private static int GetLowestCostFNodeIndex(NativeList <int> openList, NativeArray <OldPathNode> pathNodeArray)
{
OldPathNode lowestCostPathNode = pathNodeArray[openList[0]];
for (int i = 1; i < openList.Length; i++)
{
OldPathNode testPathNode = pathNodeArray[openList[i]];
if (testPathNode.fCost < lowestCostPathNode.fCost)
{
lowestCostPathNode = testPathNode;
}
}
return(lowestCostPathNode.index);
}
//TODO: currently making this public to initialize via the pathfinding system, since we dont have a proper understanding of the size of the rooms yet
public void initializePathNodeArray(int width, int height)
{
pathNodeArray = new NativeArray <OldPathNode>(width * height, Allocator.Persistent);
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
OldPathNode pathNode = new OldPathNode();
pathNode.x = x;
pathNode.y = y;
pathNode.index = CalculateIndex(x, y, width);
pathNode.gCost = int.MaxValue;
//TODO: this is where we set some stuff with obstacles
pathNode.isWalkable = true;
pathNode.cameFromNodeIndex = -1;
pathNodeArray[pathNode.index] = pathNode;
}
}
}
private static NativeList <int2> CalculatePath(NativeArray <OldPathNode> pathNodeArray, OldPathNode endNode)
{
if (endNode.cameFromNodeIndex == -1)
{
// Couldn't find a path!
return(new NativeList <int2>(Allocator.Temp));
}
else
{
// Found a path
NativeList <int2> path = new NativeList <int2>(Allocator.Temp);
path.Add(new int2(endNode.x, endNode.y));
OldPathNode currentNode = endNode;
while (currentNode.cameFromNodeIndex != -1)
{
OldPathNode cameFromNode = pathNodeArray[currentNode.cameFromNodeIndex];
path.Add(new int2(cameFromNode.x, cameFromNode.y));
currentNode = cameFromNode;
}
return(path);
}
}
private static void CalculatePath(NativeArray <OldPathNode> pathNodeArray, OldPathNode endNode, DynamicBuffer <PathPosition> pathPositionBuffer)
{
if (endNode.cameFromNodeIndex == -1)
{
// Couldn't find a path!
}
else
{
// Found a path
pathPositionBuffer.Add(new PathPosition {
position = new int2(endNode.x, endNode.y)
});
OldPathNode currentNode = endNode;
while (currentNode.cameFromNodeIndex != -1)
{
OldPathNode cameFromNode = pathNodeArray[currentNode.cameFromNodeIndex];
pathPositionBuffer.Add(new PathPosition {
position = new int2(cameFromNode.x, cameFromNode.y)
});
currentNode = cameFromNode;
}
}
}
//public BufferFromEntity<PathPosition> pathPositionBuffer;
public void Execute()
{
for (int i = 0; i < pathNodeArray.Length; i++)
{
OldPathNode pathNode = pathNodeArray[i];
pathNode.hCost = CalculateDistanceCost(new int2(pathNode.x, pathNode.y), endPosition);
pathNode.cameFromNodeIndex = -1;
pathNodeArray[i] = pathNode;
}
int endNodeIndex = CalculateIndex(endPosition.x, endPosition.y, gridSize.x);
OldPathNode startNode = pathNodeArray[CalculateIndex(startPosition.x, startPosition.y, gridSize.x)];
startNode.gCost = 0;
startNode.CalculateFCost();
pathNodeArray[startNode.index] = startNode;
NativeList <int> openList = new NativeList <int>(Allocator.Temp);
NativeList <int> closedList = new NativeList <int>(Allocator.Temp);
openList.Add(startNode.index);
while (openList.Length > 0)
{
int currentNodeIndex = GetLowestCostFNodeIndex(openList, pathNodeArray);
OldPathNode currentNode = pathNodeArray[currentNodeIndex];
if (currentNodeIndex == endNodeIndex)
{
// Reached our destination!
break;
}
// Remove current node from Open List
for (int i = 0; i < openList.Length; i++)
{
if (openList[i] == currentNodeIndex)
{
openList.RemoveAtSwapBack(i);
break;
}
}
closedList.Add(currentNodeIndex);
for (int i = 0; i < neighbourOffsetArray.Length; i++)
{
int2 neighbourOffset = neighbourOffsetArray[i];
int2 neighbourPosition = new int2(currentNode.x + neighbourOffset.x, currentNode.y + neighbourOffset.y);
if (!IsPositionInsideGrid(neighbourPosition, gridSize))
{
// Neighbour not valid position
continue;
}
int neighbourNodeIndex = CalculateIndex(neighbourPosition.x, neighbourPosition.y, gridSize.x);
if (closedList.Contains(neighbourNodeIndex))
{
// Already searched this node
continue;
}
OldPathNode neighbourNode = pathNodeArray[neighbourNodeIndex];
if (!neighbourNode.isWalkable)
{
// Not walkable
continue;
}
int2 currentNodePosition = new int2(currentNode.x, currentNode.y);
int tentativeGCost = currentNode.gCost + CalculateDistanceCost(currentNodePosition, neighbourPosition);
if (tentativeGCost < neighbourNode.gCost)
{
neighbourNode.cameFromNodeIndex = currentNodeIndex;
neighbourNode.gCost = tentativeGCost;
neighbourNode.CalculateFCost();
pathNodeArray[neighbourNodeIndex] = neighbourNode;
if (!openList.Contains(neighbourNode.index))
{
openList.Add(neighbourNode.index);
}
}
}
}
//pathPositionBuffer.Clear();
/*
* PathNode endNode = pathNodeArray[endNodeIndex];
* if (endNode.cameFromNodeIndex == -1) {
* // Didn't find a path!
* //Debug.Log("Didn't find a path!");
* pathFollowComponentDataFromEntity[entity] = new PathFollow { pathIndex = -1 };
* } else {
* // Found a path
* //CalculatePath(pathNodeArray, endNode, pathPositionBuffer);
* //pathFollowComponentDataFromEntity[entity] = new PathFollow { pathIndex = pathPositionBuffer.Length - 1 };
* }
*/
//neighbourOffsetArray.Dispose();
openList.Dispose();
closedList.Dispose();
}