void FindPath()
{
var s = flag.Split('.');
int rowLen = s.Length / lineLen;
bool[,] f = new bool[lineLen, rowLen];
for (int i = 0; i < lineLen; i++)
{
for (int j = 0; j < rowLen; j++)
{
f[i, j] = s[i + j * lineLen] == "1" ? true : false;
}
}
var grid = new Jps_Grid(f);
jps = new Jps(grid);
var paths = jps.FindPath(start, end);
if (paths == null)
{
return;
}
_line.positionCount = paths.Count;
Vector3[] poses = new Vector3[paths.Count];
for (int i = 0; i < paths.Count; i++)
{
poses[i] = new Vector3(paths[i].x, 0, -paths[i].y);
}
_line.SetPositions(poses);
}
/// <inheritdoc/>
public PathfindingResponse FindJumpPointsWithJps(Position startPosition, Position targetPosition, JpsMode mode = JpsMode.AllowDiagonalBetweenWalls)
{
if (!_ready)
{
InitializeAlgorithms(_contextManager.Current);
}
Point startPoint = _contextManager.Current.PathfindingData.PositionToZeroBasedPoint(startPosition);
Point targetPoint = _contextManager.Current.PathfindingData.PositionToZeroBasedPoint(targetPosition);
bool[,] wallMatrix = _contextManager.Current.PathfindingData.WallMatrixForJps;
if (targetPoint.X >= wallMatrix.GetLength(0) || targetPoint.Y >= wallMatrix.GetLength(1) || wallMatrix[targetPoint.X, targetPoint.Y])
{
return(new PathfindingResponse(PathfindingResult.FailureTargetUnreachable));
}
List <Point> path;
int nodesOpen, nodesClosed;
if (mode == JpsMode.AllowDiagonalBetweenWalls)
{
path = _jpsTightDiagonal.FindPath(startPoint, targetPoint, out nodesOpen, out nodesClosed);
}
else if (mode == JpsMode.Normal)
{
path = _jps.FindPath(startPoint, targetPoint, out nodesOpen, out nodesClosed);
}
else
{
path = _jpsStrictWalk.FindPath(startPoint, targetPoint, out nodesOpen, out nodesClosed);
}
//Debug.Log($"{(path.Any() ? "" : "Failed ")} Path from {startPoint} to {targetPoint} with {path.Count} steps, {nodesOpen} open nodes, {nodesClosed} closed nodes.");
if (!path.Any())
{
return(new PathfindingResponse(PathfindingResult.FailureTargetUnreachable));
}
List <Position> resultJumpPointsInGrid = path.Select(_contextManager.Current.PathfindingData.PointToNonZeroBasedPosition).ToList();
List <Position> naturalJumpPoints = _naturalLineCalculator.GetNaturalJumpPoints(resultJumpPointsInGrid).ToList();
naturalJumpPoints.Reverse();
return(new PathfindingResponse(naturalJumpPoints));
}