private void TryProcessNext()
{
if (!_isProcessingPath && _pathRequestQueue.Count > 0)
{
_currentPathRequest = _pathRequestQueue.Dequeue();
_isProcessingPath = true;
_pathfinding.StartFindPath(_currentPathRequest.pathStart, _currentPathRequest.pathEnd);
}
}
void TryProcessNext()
{
if (!isProcessingPath && pathRequestQueue.Count > 0)
{
currentPathRequest = pathRequestQueue.Dequeue();
isProcessingPath = true;
_pathfinding.StartFindPath(currentPathRequest._pathStart, currentPathRequest._pathEnd);
}
}
void TryProcessNext()
{
if (!isProcessingPath && pathRequestQueue.Count > 0)
{
Debug.Log("Processing...>");
currentPathRequest = pathRequestQueue.Dequeue();
isProcessingPath = true;
pathfinding.StartFindPath(currentPathRequest.pathStart, currentPathRequest.pathEnd);
}
}
public void FindPath(PathRequest request, Action <PathResult> callback)
{
smooth = request.smooth;
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;
}
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.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback));
}