private void updatePathing(NativeList <PathNode> closedList)
{
setPathBuffer(closedList, pathRoute);
routeFollow[entity] = new PathfindingRouteFollow {
routeIndex = pathRoute.Length - 1
};
}
public void Execute()
{
if (pathfindingType == PathfindingType.ToSpot &&
!pathNodes[getNodeIndex(positionEnd.x, positionEnd.y)].walkable)
{
routeFollow[entity] = new PathfindingRouteFollow {
routeIndex = -1
};
return;
}
if (SuccessfullyReachedTarget(positionStart))
{
pathRoute.Clear();
routeFollow[entity] = new PathfindingRouteFollow {
routeIndex = -1
};
return;
}
bool foundPath = false;
NativeList <PathNode> openList = new NativeList <PathNode>(Allocator.Temp);
NativeList <PathNode> closedList = new NativeList <PathNode>(Allocator.Temp);
PathNode startNode = pathNodes[getNodeIndex(positionStart.x, positionStart.y)];
startNode.gCost = 0;
startNode.hCost = CalculateHeuristicCost(startNode.toInt2());
startNode.UpdateFCost();
openList.Add(startNode);
while (openList.Length > 0)
{
PathNode currentNode = popNodeWithLowestFCost(ref openList);
closedList.Add(currentNode);
if (SuccessfullyReachedTarget(currentNode.toInt2()))
{
foundPath = true;
break;
}
NativeList <PathNode> eligibleNeighbours = getEligibleNeighbours(currentNode, gridSize);
for (int i = 0; i < eligibleNeighbours.Length; i++)
{
PathNode neighbourNode;
if (containsNode(openList, eligibleNeighbours[i]))
{
neighbourNode = getNodeInList(openList, eligibleNeighbours[i].toInt2());
}
else
{
neighbourNode = eligibleNeighbours[i];
}
if (containsNode(closedList, neighbourNode))
{
continue;
}
int2 currentPosition = new int2(currentNode.x, currentNode.y);
int2 neighbourPosition = new int2(neighbourNode.x, neighbourNode.y);
int tentativeGCost = currentNode.gCost + CalculateDistanceCost(currentPosition, neighbourPosition);
if (tentativeGCost < neighbourNode.gCost)
{
neighbourNode.cameFromNodeIndex = getNodeIndex(currentNode.x, currentNode.y);
neighbourNode.gCost = tentativeGCost;
neighbourNode.hCost = CalculateHeuristicCost(neighbourNode.toInt2());
neighbourNode.UpdateFCost();
if (!containsNode(openList, neighbourNode))
{
openList.Add(neighbourNode);
}
else
{
updateNodeInList(ref openList, neighbourNode);
}
}
}
eligibleNeighbours.Dispose();
}
pathRoute.Clear();
if (foundPath)
{
updatePathing(closedList);
}
else
{
routeFollow[entity] = new PathfindingRouteFollow {
routeIndex = -1
};
}
openList.Dispose();
closedList.Dispose();
}
