public Path FindPath(Vector3 source, INode target, INodeDistCalculator nodeDistCalculator)
{
try {
return(actualAlg.FindPath(source, target, nodeDistCalculator));
}
catch (Exception e) {
Urho.IO.Log.Write(LogLevel.Error, $"There was un unexpected exception in {nameof(actualAlg.FindPath)}: {e.Message}");
return(null);
}
}
public List <ITile> GetTileList(Vector3 source,
INode target,
INodeDistCalculator nodeDistCalculator)
{
Node targetNode = FindPathInNodes(source,
target,
nodeDistCalculator);
//If path was not found, return null
List <ITile> finalList = targetNode == null ? null : MakeTileList(targetNode);
Reset();
return(finalList);
}
bool TryGetNodeDistCalculator(out INodeDistCalculator nodeDistCalculator)
{
try {
nodeDistCalculator = user.GetNodeDistCalculator();
return(nodeDistCalculator != null);
}
catch (Exception e) {
Urho.IO.Log.Write(LogLevel.Error,
$"There was an unexpected exception in {nameof(user.GetNodeDistCalculator)}: {e.Message}");
nodeDistCalculator = null;
return(false);
}
}
Node FindPathInNodes(Vector3 source,
INode target,
INodeDistCalculator nodeDistCalculator)
{
Node startNode = GetTileNode(source).GetClosestNode(source);
distCalc = nodeDistCalculator as NodeDistCalculator;
if (distCalc == null)
{
throw new ArgumentException("Cannot calculate node distances with calculator for a different algorithm", nameof(nodeDistCalculator));
}
targetNode = target as Node;
if (targetNode == null)
{
throw new ArgumentException("Target node was not created by this pathfinding algorithm", nameof(target));
}
// Enque the starting node
priorityQueue.Enqueue(startNode, 0);
// Add the starting node to touched nodes, so it does not get enqued again
touchedNodes.Add(startNode);
double minDistToTarget = Vector3.Distance(startNode.Position, targetNode.Position);
//Main loop
while (priorityQueue.Count != 0)
{
Node currentNode = priorityQueue.Dequeue();
//If we hit the target, finish and return the sourceNode
if (currentNode == targetNode)
{
if (MHUrhoApp.Instance.Config.PathFindingVisualization == Visualization.TouchedNodes)
{
VisualizeTouchedNodes(targetNode.Time);
}
return(currentNode);
}
//If not finished, add untouched neighbours to the queue and touched nodes
currentNode.ProcessNeighbours(currentNode, priorityQueue, touchedNodes, targetNode, distCalc, ref minDistToTarget);
}
if (MHUrhoApp.Instance.Config.PathFindingVisualization == Visualization.TouchedNodes)
{
VisualizeTouchedNodes(targetNode.Time);
}
//Did not find path
return(null);
}
/// <summary>
/// Finds the fastest path through the map from units current possition to target
/// </summary>
/// <param name="target">Target coordinates</param>
/// <returns>List of IntVector2s the unit should pass through</returns>
public Path FindPath(Vector3 source,
INode target,
INodeDistCalculator nodeDistCalculator)
{
Node realTargetNode = FindPathInNodes(source,
target,
nodeDistCalculator);
//If path was not found, return null
Path finalPath = realTargetNode == null
? null
: MakePath(source, realTargetNode);
Reset();
return(finalPath);
}
