protected virtual List <BlockLoc> Path(IslandPathingProfile startProfile, ref BlockLoc startLoc,
HashSet <BlockLoc> goals, int heightOfEntity)
{
foreach (BlockLoc goal in goals)
{
if (startLoc.Equals(goal))
{
List <BlockLoc> noPathResult = new List <BlockLoc>();
noPathResult.Add(startLoc);
return(noPathResult);
}
}
PathNodePriorityQueue openNodes = new PathNodePriorityQueue();
HashSet <BlockLoc> visitedLocations = new HashSet <BlockLoc>();
openNodes.insertNode(new PathNode(null, startLoc, 0, goals.First()));
IslandPathingProfile profile = startProfile;
while (openNodes.size() > 0)
{
PathNode from = openNodes.pop();
List <BlockLoc> nextSteps = profile.getSpacesThatCanBeMovedToFrom(from.loc, heightOfEntity);
//adding new nodes to the openNodes unmippedArray
foreach (BlockLoc next in nextSteps)
{
if (!visitedLocations.Contains(next))
{
PathNode toAdd = new PathNode(from, next, from.costToGetHere + 1, goals.First());
if (goals.Contains(toAdd.loc))
{
List <BlockLoc> finalPath = getPathListFromEnd(toAdd);
finalPath.RemoveAt(0);
finalPath.Add(toAdd.loc);
Console.WriteLine(finalPath.Count);
return(finalPath);
}
openNodes.insertNode(toAdd);
visitedLocations.Add(next);
}
}
}
return(null);//no path found
}
private List <BlockLoc> PathToMakeGoalsAvailable(IslandPathingProfile startProfile, ref BlockLoc startLoc, out BlockLoc highestAvailableBlockFound,
HashSet <BlockLoc> blocksToMakeAvailable, int heightOfEntity)
{
highestAvailableBlockFound = new BlockLoc();
if (blocksToMakeAvailable.Count == 0)
{
List <BlockLoc> noPathResult = new List <BlockLoc>();
noPathResult.Add(startLoc);
return(noPathResult);
}
PathNodePriorityQueue openNodes = new PathNodePriorityQueue();
HashSet <BlockLoc> visitedLocations = new HashSet <BlockLoc>();
PathNodeForFindingLowGoals highestPathNodeFoundSoFar = null;
openNodes.insertNode(new PathNodeForFindingHighGoals(null, startLoc, 0, blocksToMakeAvailable.First(), int.MaxValue));
IslandPathingProfile profile = startProfile;
while (openNodes.size() > 0)
{
PathNode from = openNodes.pop();
List <BlockLoc> nextSteps = profile.getSpacesThatCanBeMovedToFrom(from.loc, heightOfEntity);
for (int i = nextSteps.Count - 1; i >= 0; i--)
{
if (visitedLocations.Contains(nextSteps[i]))
{
nextSteps.RemoveAt(i);
}
}
if (((PathNodeForFindingHighGoals)from).hasExaustedPostGoalSteps() || (((PathNodeForFindingHighGoals)from).isDescendedFromNodeAtAGoal() && nextSteps.Count == 0))
{
List <BlockLoc> finalPath = getPathListFromEnd(highestPathNodeFoundSoFar);
finalPath.RemoveAt(0);
finalPath.Add(highestPathNodeFoundSoFar.loc);
Console.WriteLine(finalPath.Count);
return(finalPath);
}
//adding new nodes to the openNodes unmippedArray
foreach (BlockLoc next in nextSteps)
{
PathNodeForFindingHighGoals toAdd = new PathNodeForFindingHighGoals
(from, next, from.costToGetHere + 1, blocksToMakeAvailable.First(),
((PathNodeForFindingHighGoals)from).getStepsUntilGiveUpOnFindingBetterBlock() - 1);
HashSet <BlockLoc> blocksAvailableFromToAdd = profile.getBlocksAvailableForWorkFromFootLoc(toAdd.loc);
foreach (BlockLoc available in blocksAvailableFromToAdd)
{
if (blocksToMakeAvailable.Contains(available))
{
if (highestPathNodeFoundSoFar == null || available.WSY() > highestAvailableBlockFound.WSY())
{
highestAvailableBlockFound = available;
toAdd.setStepCounterWhenNodeIsOnGoal();
highestPathNodeFoundSoFar = toAdd;
}
}
}
//toAdd.
toAdd.incrementPostGoalSteps();
//
// Compositer.addFlagForThisFrame(toAdd.xLowZ.toWorldSpaceVector3(), "white");
openNodes.insertNode(toAdd);
visitedLocations.Add(next);
}
}
if (highestPathNodeFoundSoFar != null)
{
List <BlockLoc> finalPath = getPathListFromEnd(highestPathNodeFoundSoFar);
finalPath.RemoveAt(0);
finalPath.Add(highestPathNodeFoundSoFar.loc);
Console.WriteLine(finalPath.Count);
return(finalPath);
}
return(null);//no path found
}