public override Activity Tick( Actor self )
{
if( IsCanceled || !target.IsValid) return NextActivity;
var mobile = self.Trait<Mobile>();
var ps1 = new PathSearch( self.World, mobile.Info, self )
{
checkForBlocked = true,
heuristic = location => 0,
inReverse = true
};
foreach( var cell in Util.AdjacentCells(target) )
if (cell == self.Location)
return NextActivity;
else
ps1.AddInitialCell( cell );
ps1.heuristic = PathSearch.DefaultEstimator( mobile.toCell );
var ps2 = PathSearch.FromPoint( self.World, mobile.Info, self, mobile.toCell, target.CenterLocation.ToCPos(), true );
var ret = self.World.WorldActor.Trait<PathFinder>().FindBidiPath( ps1, ps2 );
return Util.SequenceActivities( mobile.MoveTo( () => ret ), this );
}
public static PathSearch FromPoint(World world, MobileInfo mi, Actor self, CPos from, CPos target, bool checkForBlocked)
{
var search = new PathSearch(world, mi, self)
{
heuristic = DefaultEstimator(target),
checkForBlocked = checkForBlocked
};
search.AddInitialCell(from);
return search;
}
public static PathSearch FromPoints(World world, MobileInfo mi, Actor self, IEnumerable<CPos> froms, CPos target, bool checkForBlocked)
{
var search = new PathSearch(world, mi, self)
{
heuristic = DefaultEstimator(target),
checkForBlocked = checkForBlocked
};
foreach (var sl in froms)
search.AddInitialCell(sl);
return search;
}