public IEnumerator NewBestishPath(int ignoredRnd)
{
//Return to a proper state
movement = movementMax;
//Clear old bestish path stuff
nodeWithValues.Clear();
if (previosUnWalkableNode != null)
{
previosUnWalkableNode.occupied = false;
}
//Find all accessable nodes
//yield return StartCoroutine(GatherReachableNodes(transform.position, movement));
nodeForEval.Clear();
visitedRowCol = new bool[Mathf.RoundToInt(m_grid.gridWorldSize.x), Mathf.RoundToInt(m_grid.gridWorldSize.y)];
reachableNodes2(transform.position, 0);
Debug.Log("# of eval nodes " + nodeForEval.Count);
// remove nodes for eval, remove gather reachable, create a reachable with single gather and return function
//float stay = Sigmoid(m_grid.NodeFromWorldPoint(transform.position).threatLvl * stayWeight); //Eval original node for possible leaving dangers TODO balence
float stay = m_grid.NodeFromWorldPoint(transform.position).threatLvl *stayWeight;
float master = 99999f;
//Eval each node for danger if left and value if moved
for (int i = 0; i < nodeForEval.Count; i++)
{
if (nodeForEval[i].walkable && !nodeForEval[i].occupied)
{
justREturnedPath = false; //UnsureWhat this fixes
yield return(null);
updateOccupiedNode();
//Debug.Log("walkable And !occupied");
//yield return StartCoroutine(locationEval(nodeForEval[i])); //unsure what this does
vMove[] tmp = m_Action.EvalFunctForAi(nodeForEval[i], target.position); //Eval the action
for (int k = 0; k < tmp.Length; k++)
{
//float Action = Sigmoid(tmp[k].value + actWeight);
float Action = tmp[k].value * actWeight;
master = Action + stay;
//master = Sigmoid(Action + -stay);
tmp[k].value = master;
Debug.Log(gameObject.name + " Charge: " + Action + " Stay: " + stay + "Master Weight: " + master + " " + tmp[k].endNode.worldPosition);
nodeWithValues.Add(tmp[k]);
}
/* float Action = Sigmoid(tmp[0].value + actWeight);
* master = Sigmoid(Action + -stay);
* tmp[0].value = master;
* Debug.Log(gameObject.name + " Charge: " + Action + " Stay: " + stay + "Master Weight: " + master);
* nodeWithValues.Add(tmp[0]);*/
}
}
nodeWithValues.Sort();
Debug.Log(gameObject.name + " BEST move " + nodeWithValues[0].value + " loc:" + nodeWithValues[0].endNode.worldPosition);
yield return(null);
}
