public override bool Process(AStarContext context)
{
PathFindingRequest request = context.Request as PathFindingRequest;
ProcessingNode startNode = context.GetStartNode();
ProcessingNode endNode = context.GetTargetNode();
if (startNode == null || endNode == null)
{
return(false);
}
FindPath(startNode, endNode, context);
List <Int3> path = context.rawPathPoints;
if (path.Count > 0)
{
// set the first and last point to 'from' and 'to'.
path[0] = request.fromPosition;
path[path.Count - 1] = request.toPosition;
// then optimize
NavMeshPathOptimizer.Optimize(ref context.rawPathNodeCache, ref path);
}
return(context.rawPathPoints.Count >= 2);
}
public bool FindPath(Int3 from, Int3 to, ref List <Int3> result, TwGame.Team team)
{
PathFindingRequest req = new PathFindingRequest(from, to, navgationGraph, pathPlanner, (int)team);
//astarEngine.AddRequest(req);
bool ret = astarEngine.ProcessRequest(req);
if (ret)
{
result.Clear();
result.AddRange(astarEngine.Context.rawPathPoints);
}
return(ret);
}
/// <summary>
/// calculate tactical G
/// </summary>
private int TacticalCost(NavMeshNode prevNode, NavMeshNode currentNode, AStarContext context)
{
int distCost = prevNode.GetConnectionCost(currentNode.id);
int tacCost = 0;
PathFindingRequest request = context.Request as PathFindingRequest;
// doer's team
TwGame.Team team = (TwGame.Team)request.extend1;
switch (team)
{
case TwGame.Team.Neutral:
tacCost = 0;
break;
case TwGame.Team.Team_1:
case TwGame.Team.Team_2:
{
int MaxInfluence = TwGame.ComInfluenceMap.MaxTeamStrengthValue;
int cur = TwGame.AIUtil.GetTeamStrength(currentNode.position, team);
int pre = TwGame.AIUtil.GetTeamStrength(prevNode.position, team);
// avarage influence between current node's position and previous node's position.
int infl = (cur + pre) >> 1;
if (infl > 0)
{
tacCost = System.Math.Max(-distCost + 1, -distCost * infl / MaxInfluence);
}
else if (infl < 0)
{
tacCost = -distCost * infl / MaxInfluence * 2;
}
}
break;
}
return(distCost + tacCost);
}
public void QueueJob(PathFindingRequest request)
{
requests.Enqueue(request);
}
private void Update()
{
framesProcessed++;
if (currentRequest != null)
{
//jobHandle.Complete();
if (jobHandle.IsCompleted || framesProcessed > 3)
{
jobHandle.Complete();
//make path
Path path = new Path();
if (job.result.Length == 0 || Vector3.Distance(currentRequest.dst, job.grid.GetNodePosition(job.result[0])) > 3)
{
path.failed = true;
}
else
{
path.nodes = new List <Vector3>(job.result.Length);
for (int i = job.result.Length - 1; i >= 0; i--)
{
path.nodes.Add(job.grid.GetNodePosition(job.result[i].x, job.result[i].y));
}
}
currentRequest.result = path;
currentRequest.done = true;
//Dispos job structs
job.grid.Dispose();
job.result.Dispose();
job.open.Dispose();
job.closed.Dispose();
currentRequest = null;
}
}
//Queue a new job if there are requests
if (currentRequest == null && requests.Count > 0 && this.grid.nodeSize > 0)
{
currentRequest = requests.Dequeue();
job = new ProcessPathJob()
{
srcPosition = currentRequest.src,
dstPosition = currentRequest.dst,
grid = grid.Copy(Allocator.TempJob),
result = new NativeList <int2>(Allocator.TempJob),
open = new NativeBinaryHeap <ProcessPathJob.NodeCost>((int)(grid.width * grid.height / (grid.nodeSize) / 2), Allocator.TempJob),
closed = new NativeHashMap <int2, ProcessPathJob.NodeCost>(128, Allocator.TempJob)
};
jobHandle = job.Schedule();
framesProcessed = 0;
}
}
