public static int GetPath(RagnarokWalkData walkData, Vector2Int start, Vector2Int target, Vector2Int[] pathOut)
{
if (!walkData.CellWalkable(target.x, target.y))
{
return(0);
}
Profiler.BeginSample("Pathfinding");
var path = BuildPath(walkData, start, target);
openList.Clear();
//closedList.Clear();
openListPos.Clear();
closedListPos.Clear();
//closedList.Clear();
if (path == null)
{
//Debug.Log($"Failed to find path ${CalcDistance(start, target)} away");
Profiler.EndSample();
return(0);
}
//var final = new Vector2Int[path.Steps+1];
//Debug.Log($"path is {path.Steps}, creating array {final.Length} in size.");
var steps = path.Steps + 1;
if (path.Steps >= pathOut.Length)
{
Debug.LogWarning($"Whoa! This isn't good. Steps is {path.Steps} but the array is {pathOut.Length}");
}
while (path != null)
{
//Debug.Log(path.Steps + " " + path.Position);
pathOut[path.Steps] = path.Position;
path = path.Parent;
}
Profiler.EndSample();
return(steps);
}
private static PathNode BuildPath(RagnarokWalkData walkData, Vector2Int start, Vector2Int target)
{
if (nodeCache == null)
{
BuildCache();
}
cachePos = MaxCacheSize;
openList.Clear();
openListPos.Clear();
closedListPos.Clear();
var current = NextPathNode(null, start, CalcDistance(start, target));
openList.Add(current);
Profiler.BeginSample("Performing Path Loop");
while (openList.Count > 0 && !closedListPos.Contains(target))
{
Profiler.BeginSample("Retrieving next openList entry");
current = openList[0];
openList.RemoveAt(0);
openListPos.Remove(current.Position);
closedListPos.Add(current.Position);
Profiler.EndSample();
if (current.Steps > 15 || current.Steps + current.Distance / 2 > 15)
{
continue;
}
for (var x = -1; x <= 1; x++)
{
for (var y = -1; y <= 1; y++)
{
if (x == 0 && y == 0)
{
continue;
}
var np = current.Position;
np.x += x;
np.y += y;
if (np.x < 0 || np.y < 0 || np.x >= walkData.Width || np.y >= walkData.Height)
{
continue;
}
if (closedListPos.Contains(np) || openListPos.Contains(np))
{
continue;
}
if ((walkData.Cell(np).Type & CellType.Walkable) != CellType.Walkable)
{
continue;
}
if (x == -1 && y == -1)
{
if (!walkData.CellWalkable(current.Position.x - 1, current.Position.y) ||
!walkData.CellWalkable(current.Position.x, current.Position.y - 1))
{
continue;
}
}
if (x == -1 && y == 1)
{
if (!walkData.CellWalkable(current.Position.x - 1, current.Position.y) ||
!walkData.CellWalkable(current.Position.x, current.Position.y + 1))
{
continue;
}
}
if (x == 1 && y == -1)
{
if (!walkData.CellWalkable(current.Position.x + 1, current.Position.y) ||
!walkData.CellWalkable(current.Position.x, current.Position.y - 1))
{
continue;
}
}
if (x == 1 && y == 1)
{
if (!walkData.CellWalkable(current.Position.x + 1, current.Position.y) ||
!walkData.CellWalkable(current.Position.x, current.Position.y + 1))
{
continue;
}
}
if (np == target)
{
Profiler.EndSample();
return(NextPathNode(current, np, 0));
}
Profiler.BeginSample("Adding node to open list");
openList.Add(NextPathNode(current, np, CalcDistance(np, target)));
openListPos.Add(np);
closedListPos.Add(np);
openList.Sort((a, b) => a.F.CompareTo(b.F));
Profiler.EndSample();
//openList = openList.OrderBy(o => o.F).ToList();
}
}
}
Profiler.EndSample();
//Debug.Log("Failed to find path, cache size is: " + cachePos);
return(null);
}
