public void FindPath(int requestId, Vector3 startPoint, Vector3 endPoint, PathfindingComplete callback, List <string> ignoreTemplateList = null)
{
GridCell startCell = GridManager.Instance.GetCell(startPoint);
GridCell endCell = GridManager.Instance.GetCell(endPoint);
if (startCell == null || endCell == null)
{
PathData pathData = new PathData(new Vector3[1] {
endPoint
}, new List <Node>(1)
{
null
});
callback(false, pathData);
return;
}
PathRequestData prd = new PathRequestData(startCell, endCell, callback, ignoreTemplateList);
if (_pathRequestDictionary.ContainsKey(requestId))
{
_pathRequestDictionary[requestId] = prd;
}
else
{
_pathRequestQueue.Enqueue(requestId);
_pathRequestDictionary.Add(requestId, prd);
}
}
private void FindPathInternal(int requestId)
{
bool pathFound = false;
PathRequestData prd = _pathRequestDictionary[requestId];
PathData pathData = null;
Node startNode = Nodes[prd.startCell.GridPosition.x, prd.startCell.GridPosition.y];
Node endNode = Nodes[prd.endCell.GridPosition.x, prd.endCell.GridPosition.y];
Heap <Node> openSet = new Heap <Node>(_gridWidth * _gridHeight);
HashSet <Node> closeSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closeSet.Add(currentNode);
if (currentNode == endNode)
{
var retracedPath = RetracePath(startNode, endNode);
Vector3[] waypoints = PathToVector3Array(retracedPath);
if (waypoints == null)
{
retracedPath.Add(endNode);
waypoints = new Vector3[1] {
endNode.CellObj.transform.position
};
}
pathData = new PathData(waypoints, retracedPath);
prd.callback(true, pathData);
pathFound = true;
break;
}
foreach (Node neighbour in GetNeighbours(currentNode))
{
if (closeSet.Contains(neighbour))
{
continue;
}
int hCostToNeighbor = neighbour.CellObj.Cost;
if (prd.ignoreTemplateList != null && neighbour.CellObj.IsOccupied)
{
if (prd.ignoreTemplateList.Count(template => template.Equals(neighbour.CellObj.Occupant.TemplateID)) > 0)
{
hCostToNeighbor = 1;
}
}
int movementCostToNeighbour = currentNode.GCost + hCostToNeighbor;
if (movementCostToNeighbour < neighbour.GCost || !openSet.Contains(neighbour))
{
neighbour.GCost = movementCostToNeighbour;
neighbour.HCost = GetDistance(neighbour, endNode);
neighbour.Parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
if (!pathFound)
{
pathData = new PathData(new Vector3[1] {
endNode.CellObj.transform.position
}, new List <Node>(1)
{
endNode
});
prd.callback(false, pathData);
}
_pathRequestDictionary.Remove(requestId);
}