public static bool TryGetPath(PathfindingGrid grid, int startX, int startY, int finishX, int finishY,
int unitSize, long unitCapabilities, Allocator allocator, NativeList <int> resultPath)
{
//Requests Min
var priorityQueue = new PriorityQueue <CellSearchRecord>(HeapType.Min, allocator);
var openSetSupportData = new NativeHashMap <int, OpenSetRecord>(20, allocator);
var startCellIndex = PathfindingGrid.CalculateIndex(startX, startY, grid.Width);
var endCellIndex = PathfindingGrid.CalculateIndex(finishX, finishY, grid.Width);
var endCell = new CellSearchRecord();
endCell.Priority = AStarSearchHeuristic.DiagonalDistance(finishX, finishY, startX, startY);
endCell.CellId = endCellIndex;
priorityQueue.Add(endCell);
//Set distance passed
openSetSupportData[endCellIndex] = new OpenSetRecord
{
DistancePassed = 0,
ParentCell = -1,
};
while (priorityQueue.Count > 0)
{
var currentCell = priorityQueue.Remove();
var currentCellIndex = currentCell.CellId;
//Mark cell as expanded
var currentCellData = openSetSupportData[currentCellIndex];
currentCellData.Expanded = Expanded.True;
openSetSupportData[currentCellIndex] = currentCellData;
//Reconstruct path
var pathFound = currentCellIndex == startCellIndex;
if (!pathFound)
{
var endX = startX;
var endY = startY;
PathfindingGrid.CalculateCoordinates(currentCellIndex, grid.Width, out var x, out var y);
for (var i = 0; i < OFFSETS.Length; ++i)
{
var moveCost = Math.Abs(OFFSETS[i].x) == Math.Abs(OFFSETS[i].y) ?
AStarConsts.DIAGONAL_MOVEMENT : AStarConsts.STRAIGHT_MOVEMENT;
ProcessNeighbour(x + OFFSETS[i].x, y + OFFSETS[i].y, unitSize, unitCapabilities,
currentCellData.DistancePassed + moveCost,
currentCellIndex,
endX, endY, grid, openSetSupportData, priorityQueue);
}
}
else
{
ReconstructPath(openSetSupportData, startCellIndex, endCellIndex, resultPath);
priorityQueue.Dispose();
openSetSupportData.Dispose();
return(true);
}
}
priorityQueue.Dispose();
openSetSupportData.Dispose();
return(false);
}
private static void ProcessNeighbour(
int x, int y, int unitSize, long unitCapabilities,
float distancePassed, int parenCellId,
int finishX, int finishY,
PathfindingGrid grid,
NativeHashMap <int, OpenSetRecord> openSetSupportData,
PriorityQueue <CellSearchRecord> priorityQueue)
{
//Ignore invalid cells
if (x < 0 || y < 0)
{
return;
}
if (x >= grid.Width || y >= grid.Height)
{
return;
}
var neighbourCellIndex = PathfindingGrid.CalculateIndex(x, y, grid.Width);
var isInOpenList = openSetSupportData.TryGetValue(neighbourCellIndex, out var neighbourCell);
if (!isInOpenList)
{
neighbourCell = openSetSupportData[neighbourCellIndex] = new OpenSetRecord();
openSetSupportData[neighbourCellIndex] = neighbourCell;
}
else if (neighbourCell.Expanded == Expanded.True)
{
//Item is in Closed list, return
return;
}
else if (distancePassed >= neighbourCell.DistancePassed)
{
//if it's already in priority queue and the distance has not improved, we are returning
return;
}
//Item is not traversable, return
if (!grid.IsPassable(x, y, unitCapabilities, unitSize))
{
return;
}
var cellRecord = new CellSearchRecord {
Priority = 0, CellId = neighbourCellIndex
};
//We found a better route to this cell, so we need to remove it from Priority queue as later we are going to add it with better metrics
if (isInOpenList && distancePassed < neighbourCell.DistancePassed)
{
priorityQueue.Remove(cellRecord);
}
float distanceToTarget = AStarSearchHeuristic.DiagonalDistance(x, y, finishX, finishY);
neighbourCell.ParentCell = parenCellId;
neighbourCell.DistancePassed = distancePassed;
openSetSupportData[neighbourCellIndex] = neighbourCell;
cellRecord.Priority = distanceToTarget + distancePassed;
priorityQueue.Add(cellRecord);
}
