public void PathFound(List <Node> nodePath, AgentPathfinder agent, Vector3 to)
{
if (nodePath == null)
{
PathfindResult result = new PathfindResult(agent, null);
lock (results){ results.Enqueue(result); }
return;
}
vector3Path.Clear();
//invert path and convert to Vector3
// i > 0 as we don't want to add last one, see below comment
for (int i = nodePath.Count - 1; i > 0; i--)
{
vector3Path.Add(nodePath[i].pos);
}
//last one should be exact position, not node position.
vector3Path.Add(to);
PathfindResult successfulResult = new PathfindResult(agent, vector3Path);
lock (results) { results.Enqueue(successfulResult); }
}
/// <summary>
/// A_Star bits
/// </summary>
public void requestPath(Vector3 from, Vector3 to, AgentPathfinder agent)
{
Node fromNode = ReturnNodeFromVector3(from);
int X = mapX;
int Y = mapY;
int Z = mapZ;
if (to.x > X || to.x < .0f ||
to.y > Y || to.y < .0f ||
to.z > Z || to.z < .0f)
{
Debug.Log("Demanded an out of range vector destination!");
PathfindResult result;
result.agent = agent;
return;
}
Node toNode = ReturnNodeFromVector3ToNode(from, to);
Thread t = new Thread(() => FindPath(fromNode, toNode, to, agent));
t.Start();
//ThreadStart threadStart = delegate
//{
// FindPath(fromNode, toNode, to, agent);
//};
}
void Awake()
{
//Find the agent movement controller attached
_agentPathfinder = GetComponent<AgentPathfinder>();
WorkWaypoint = GameObject.FindGameObjectWithTag ("WorkWaypoint");
//When an agent spawns, he should start by wandering
aState = agentState.Default;
//When an agent spawns, start updating his hunger level
updateHunger();
}
private void Awake()
{
agentPathfinding = gameObject.GetComponent <AgentPathfinder>();
stats = GetComponent <AgentStats>();
}
public PathfindResult(AgentPathfinder agent, List <Vector3> path)
{
this.agent = agent;
this.path = path;
}
//This function is broken up to allow for easier profiling with Unity tools.
void FindPath(Node from, Node to, Vector3 finalTo, AgentPathfinder agent)
{
Node current = FindPathInit(from);
if (CheckReached(current, to))
{
PathFound(returnNodes, agent, finalTo);
return;
}
while (openNodes.Count > 0)
{
current.f = current.g = current.h = 0;
current = openNodes[0];
openNodes.RemoveAt(0);
if (CheckReached(current, to))
{
PathFound(returnNodes, agent, finalTo);
return;
}
if (current == null)
{
Debug.Log("How is current null?!");
}
current.open = false;
current.visited = true;
// check neighbours
for (int x = -1; x < 2; x++)
{
if (current.intVec3.x + x < 0 || current.intVec3.x + x >= mapX) // do these checks early in the loop to ensure we don't waste time checking an entire row of null neighbours
{
continue;
}
for (int y = -1; y < 2; y++)
{
if (current.intVec3.y + y < 0 || current.intVec3.y + y >= mapY)
{
continue;
}
for (int z = -1; z < 2; z++)
{
if (current.intVec3.z + z < 0 || current.intVec3.z + z >= mapZ)
{
continue;
}
Node neighbour = null;
// check its a valid neighbour
neighbour = CheckNeighbourValidity(x, y, z, current);
if (neighbour == null)
{
continue;
}
float g = neighbour.g + nodeSize;
float h = manhattanHeuristic(neighbour, to);
float f = g + h;
bool inOpen = neighbour.open;
AddToOpenSet(inOpen, neighbour, f, g, h, current);
}
}
}
}
Debug.Log("WARNING: Destination could not be found for path find!!");
PathFound(null, agent, finalTo);
}
