public IEnumerator GetPathAsync(Vector2 pFrom, Vector2 pTo, Astar astar)
{
//Debug.Log($"GetPath {pFrom}-{pTo}");
Path = new MovePath();
IsSearching = true;
//if(!activeMap.IsWithinMap(pFrom) || !activeMap.IsWithinMap(pTo))
// goto end;
if (!activeMap.IsWithinMap(pFrom))
{
pFrom = activeMap.GetPositionWithinMap(pFrom);
}
if (!activeMap.IsWithinMap(pTo))
{
pTo = activeMap.GetPositionWithinMap(pTo);
}
//while(!isInited)
// await Task.Delay(100);
if (!AstarAdapter.isInited)
{
goto end;
}
//handled better below
//if(PathFinderController.OverlapsWithMapObject(pTo))
// return new MovePath();
SVector2 start = AstarAdapter.GetScaledVector(pFrom);
SVector2 end = AstarAdapter.GetScaledVector(pTo);
//if pTo is unreachable, try to find the closest node and navigate to it
if (!astar.IsWalkable(end))
{
//Debug.Log($"End {end} is unreachable");
SVector2?closest = astar.GetClosestWalkable(end, start);
//Debug.Log($"closest = {closest }");
if (closest == null)
{
goto end;
}
else
{
end = (SVector2)closest;
}
}
yield return(new WaitForEndOfFrame());
StartCoroutine(astar.FindPathAsync(start, end));
while (astar.IsSearching)
{
yield return(new WaitForEndOfFrame());
}
var pathStack = astar.Path;
List <Vector2> pathNodes = new List <Vector2>();
pathNodes.Add(pFrom);
//skip the first node - otherwise the path starts with sharp turn.
if (pathStack != null && pathStack.Count > 0)
{
pathStack.Pop();
}
bool isPathValid = pathStack != null && pathStack.Count > 0;
//try to join the next node with simple node
Vector2 joinTarget = !isPathValid?
AstarAdapter.GetScaledVector(end) :
AstarAdapter.GetScaledVector(pathStack.Peek().Center);
Vector2?joinPoint = GetJoinPoint(pFrom, joinTarget);
if (joinPoint == null && !isPathValid)
{
goto end;
}
if (joinPoint != null)
{
pathNodes.Add((Vector2)joinPoint);
}
//add path nodes
while (isPathValid && pathStack.Count > 0)
{
pathNodes.Add(AstarAdapter.GetScaledVector(pathStack.Pop().Center));
}
pathNodes.Add(AstarAdapter.GetScaledVector(end));
Path = new MovePath(pathNodes, AstarAdapter.stepSize);
end : IsSearching = false;
//return path;
}
