public void FindPath(PathRequest request, Action <PathResult> callback)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = grid.NodeFromWorldPoint(request.pathStart);
Node targetNode = grid.NodeFromWorldPoint(request.pathEnd);
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 (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
float 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);
}
}
}
}
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback));
}
private void FindPathInternal(int requestId)
{
bool pathFound = false;
PathRequestData prd = _pathRequestDictionary[requestId];
PathData pathData = null;
Node startNode = Nodes[prd.startCell.GridPosition.x, prd.startCell.GridPosition.y];
Node endNode = Nodes[prd.endCell.GridPosition.x, prd.endCell.GridPosition.y];
Heap <Node> openSet = new Heap <Node>(_gridWidth * _gridHeight);
HashSet <Node> closeSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closeSet.Add(currentNode);
if (currentNode == endNode)
{
var retracedPath = RetracePath(startNode, endNode);
Vector3[] waypoints = PathToVector3Array(retracedPath);
if (waypoints == null)
{
retracedPath.Add(endNode);
waypoints = new Vector3[1] {
endNode.CellObj.transform.position
};
}
pathData = new PathData(waypoints, retracedPath);
prd.callback(true, pathData);
pathFound = true;
break;
}
foreach (Node neighbour in GetNeighbours(currentNode))
{
if (closeSet.Contains(neighbour))
{
continue;
}
int hCostToNeighbor = neighbour.CellObj.Cost;
if (prd.ignoreTemplateList != null && neighbour.CellObj.IsOccupied)
{
if (prd.ignoreTemplateList.Count(template => template.Equals(neighbour.CellObj.Occupant.TemplateID)) > 0)
{
hCostToNeighbor = 1;
}
}
int movementCostToNeighbour = currentNode.GCost + hCostToNeighbor;
if (movementCostToNeighbour < neighbour.GCost || !openSet.Contains(neighbour))
{
neighbour.GCost = movementCostToNeighbour;
neighbour.HCost = GetDistance(neighbour, endNode);
neighbour.Parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
if (!pathFound)
{
pathData = new PathData(new Vector3[1] {
endNode.CellObj.transform.position
}, new List <Node>(1)
{
endNode
});
prd.callback(false, pathData);
}
_pathRequestDictionary.Remove(requestId);
}
public void FindPath(PathRequest request, Action <PathResult> callback)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node2D startNode = grid.NodeFromWorldPoint(request.pathStart);
var endNodes = grid.NodesFromWorldBound(request.pathEnd, request.endBounds);
UnityEngine.Debug.Log("nodes in end node: " + endNodes.Length);
Node2D[] targetNode = endNodes.Where(n => n.walkable).ToArray();
UnityEngine.Debug.Log("usable target nodes: " + targetNode.Length);
Node2D endNode = startNode;
try
{
endNode = targetNode[0];
startNode.parent = startNode;
if (startNode.walkable && targetNode != null && targetNode.Length > 0)
{
Heap <Node2D> openSet = new Heap <Node2D>(grid.MaxSize);
HashSet <Node2D> closedSet = new HashSet <Node2D>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node2D currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (targetNode.Contains(currentNode))
{
sw.Stop();
UnityEngine.Debug.Log("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
endNode = currentNode;
break;
}
foreach (Node2D neighbour in grid.GetNeighbours(currentNode))
{
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);
}
}
}
}
}
}
catch (Exception e)
{
UnityEngine.Debug.Log("No usable end nodes");
callback(new PathResult(waypoints, pathSuccess, request.callback));
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, endNode);
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback));
}
/// <summary>
/// A* pathfinding algorithm.
/// </summary>
/// <param name="request">PathRequest object.</param>
/// <param name="callback">Callback object.</param>
public void FindPath(PathRequest request, Action <PathResult> callback)
{
Stopwatch sw = new Stopwatch();
sw.Start();
List <Node> waypoints = new List <Node>();
bool pathSuccess = false;
Node startNode = _aGrid.getNode(request.pathStart);
Node targetNode = _aGrid.getNode(request.pathEnd);
startNode.parent = startNode;
if (targetNode.GetState() == Enums.TileState.FREE)
{
Heap <Node> openSet = new Heap <Node>(_aGrid.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 _aGrid.GetNeighbours(currentNode))
{
if (neighbour.GetState() != Enums.TileState.FREE || 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);
}
}
}
}
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
pathSuccess = waypoints.Count > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.parameter, request.callback));
}
