private void FindPath(PathFinding_Request request)
{
bool foundPath = algorithmReferences[algoToUse].FindPath(request.start, request.goal, heuristic, ref request.nodeData, nodeGraph.MaxGridSize);
List <Node> path;
if (foundPath)
{
// Build the found path list from Goal to Start
path = BuildPath(request);
if (path.Count > 1)
{
// Reverse the found path to be from Start to Goal
path.Reverse();
// Simplify the path to take up less space and only track pivot points
path = SimplifyPath(path);
}
}
else
{
// If a path was not found return a null path
path = null;
}
PathFinding_Result result = new PathFinding_Result(request.callBack, path, foundPath);
// Lock the PathFinding class instance and decrement the active threads count
lock (_instance)
{
_ActiveThreads--;
pathRequesetResults.Enqueue(result);
}
}
private void Update()
{
// If we aren't waiting to scan the grid, increment our timer for the next time we need to
if (!waitingToScanGrid)
{
nodeGraph.rescanTimer += Time.deltaTime;
if (nodeGraph.rescanTimer > nodeGraph.rescanRate)
{
// Flag that we would like to scan the grid
waitingToScanGrid = true;
nodeGraph.rescanTimer = 0.0f;
}
}
// Wait to scan the grid until there are no active threads which could be using the
//previous scans grid data.
if (waitingToScanGrid && _ActiveThreads == 0)
{
nodeGraph.ScanGrid();
waitingToScanGrid = false;
}
// Check if we have any requests to spin up finding a path for
if (pathRequests.Count > 0)
{
// Spin up a path finding thread if it's safe to do so and we haven't hit our max thread count
if (!waitingToScanGrid && _ActiveThreads < maxNumberOfThreads)
{
StartPathFindingThread((PathFinding_Request)pathRequests.Dequeue());
//FindPath((PathFinding_Request)pathRequests.Dequeue());
}
}
// Check if we have any path results to call back to
if (pathRequesetResults.Count > 0)
{
PathFinding_Result result = (PathFinding_Result)pathRequesetResults.Dequeue();
result.callBack(result.path, result.foundPath);
}
}