public PathRequest(Vector3 _start, Vector3 _end, INeighbourFilter _filter, Action <Vector3[], bool> _callback)
{
filter = _filter;
pathStart = _start;
pathEnd = _end;
callback = _callback;
}
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos, INeighbourFilter filter)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = grid.FindNearesPoint(startPos);
Node targetNode = grid.FindNearesPoint(targetPos);
startNode.parent = startNode;
if (startNode.walkable && targetNode.walkable)
{
Heap <Node> openSet = new Heap <Node>(grid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
sw.Stop();
print("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (filter != null && filter.FilterNeighbour(neighbour) == false)
{
continue;
}
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProcessingPath(waypoints, pathSuccess);
}
public void StartFindPath(Vector3 startPos, Vector3 targetPos, INeighbourFilter filter)
{
StartCoroutine(FindPath(startPos, targetPos, filter));
}
public static void RequestPath(Vector3 pathStart, Vector3 pathEnd, Action <Vector3[], bool> callback, INeighbourFilter _filter)
{
PathRequest newRequest = new PathRequest(pathStart, pathEnd, _filter, callback);
instance.pathRequestQueue.Enqueue(newRequest);
instance.TryProcessNext();
}
