public void Execute()
{
// Create Path
//NativeList<int> pathNodes = new NativeList<int>(Allocator.Temp);
if (parents[endIndex] == -1)
{
Debug.Log("Path not found");
AgentData ad = agentComponentData[entity];
ad.pathIndex = 0;
ad.hasPath = false;
agentComponentData[entity] = ad;
}
else
{
// Path found
pathBuffer[entity].Clear();
int currentIdx = endIndex;
//pathNodes.Add(currentIdx);
while (parents[currentIdx] != -1)
{
//pathNodes.Add(parents[currentIdx]);
Vector3 v1 = Vector3.zero;
Vector3 v2 = Vector3.zero;
for (int i = nodes[currentIdx].neighboursIndex; i < nodes[currentIdx].neighboursIndex + nodes[currentIdx].neighboursSize; i++)
{
if (neighbors[i].nodeIndex == parents[currentIdx])
{
v1 = neighbors[i].portal.v1;
v2 = neighbors[i].portal.v2;
}
}
pathBuffer[entity].Add(new PathBuffer {
v1 = v1, v2 = v2, nodeIndex = currentIdx
});
currentIdx = parents[currentIdx];
}
AgentData ad = agentComponentData[entity];
ad.pathIndex = pathBuffer[entity].Length - 1;
ad.destination = ad.getProyectedWayPoint(pathBuffer[entity][ad.pathIndex].v1, pathBuffer[entity][ad.pathIndex].v2);
ad.hasPath = true;
agentComponentData[entity] = ad;
}
}