public void Init(Vector3D start, MySmartGoal goal)
{
this.m_lastInitTime = MySandboxGame.TotalGamePlayTimeInMilliseconds;
this.m_startPoint = start;
this.m_goal = goal;
this.m_currentPrimitive = this.m_pathfinding.FindClosestPrimitive(start, false, null);
if (this.m_currentPrimitive != null)
{
this.m_hlBegin = this.m_currentPrimitive.GetHighLevelPrimitive();
if ((this.m_hlBegin != null) && !this.m_pathNodes.Contains(this.m_hlBegin))
{
this.m_hlBegin.Parent.ObservePrimitive(this.m_hlBegin, this);
}
}
if (this.m_currentPrimitive == null)
{
this.m_currentPrimitive = null;
this.Invalidate();
}
else
{
this.m_pathNodePosition = 0;
this.m_expandedPathPosition = 0;
this.m_expandedPath.Clear();
this.m_pathNodes.Clear();
this.m_usedWholePath = false;
this.m_valid = true;
}
}
public MyPath <MyNavigationPrimitive> FindHighLevelPath(MyPathfinding pathfinding, MyHighLevelPrimitive startPrimitive)
{
m_pathfindingStatic = this;
pathfinding.LastHighLevelTimestamp = pathfinding.GetCurrentTimestamp();
m_pathfindingStatic = null;
return(pathfinding.FindPath(startPrimitive, m_hlPathfindingHeuristic, m_hlTerminationCriterion, null, false));
}
public IMyPath FindPathGlobal(Vector3D begin, IMyDestinationShape end, MyEntity entity = null)
{
if (!MyPerGameSettings.EnablePathfinding)
{
return(null);
}
MySmartGoal goal = new MySmartGoal(end, entity);
MySmartPath path1 = new MySmartPath(this);
path1.Init(begin, goal);
return(path1);
}
// MW:TODO optimize or change
public bool ReachableUnderThreshold(Vector3D begin, IMyDestinationShape end, float thresholdDistance)
{
m_reachPredicateDistance = thresholdDistance;
var beginPrimitive = FindClosestPrimitive(begin, false);
var endPrimitive = FindClosestPrimitive(end.GetDestination(), false);
if (beginPrimitive == null || endPrimitive == null)
{
return(false);
}
var beginHL = beginPrimitive.GetHighLevelPrimitive();
var endHL = endPrimitive.GetHighLevelPrimitive();
ProfilerShort.Begin("HL");
MySmartGoal goal = new MySmartGoal(end);
var path = goal.FindHighLevelPath(this, beginHL);
ProfilerShort.End();
if (path == null)
{
return(false);
}
m_reachEndPrimitive = endPrimitive;
ProfilerShort.Begin("Prepare for travesal");
PrepareTraversal(beginPrimitive, null, ReachablePredicate);
ProfilerShort.End();
ProfilerShort.Begin("checking for vertices");
try
{
foreach (var vertex in this)
{
if (vertex.Equals(m_reachEndPrimitive))
{
return(true);
}
}
}
finally
{
ProfilerShort.End();
}
return(false);
}
public void Init(Vector3D start, MySmartGoal goal)
{
ProfilerShort.Begin("MySmartPath.Init()");
Debug.Assert(m_valid == false);
m_lastInitTime = MySandboxGame.TotalGamePlayTimeInMilliseconds;
m_startPoint = start;
m_goal = goal;
ProfilerShort.Begin("Find start primitive");
ProfilerShort.Begin("FindClosestPrimitive");
m_currentPrimitive = m_pathfinding.FindClosestPrimitive(start, highLevel: false);
if (m_currentPrimitive != null)
{
ProfilerShort.BeginNextBlock("GetHighLevelPrimitive");
m_hlBegin = m_currentPrimitive.GetHighLevelPrimitive();
Debug.Assert(m_hlBegin != null, "Start primitive did not have a high-level primitive!");
if (m_hlBegin != null && !m_pathNodes.Contains(m_hlBegin))
{
ProfilerShort.BeginNextBlock("ObservePrimitive");
m_hlBegin.Parent.ObservePrimitive(m_hlBegin, this);
}
}
ProfilerShort.End();
ProfilerShort.End();
if (m_currentPrimitive == null)
{
// CH: TODO: Starting primitive was not found. What to do now?
m_currentPrimitive = null;
Invalidate();
ProfilerShort.End();
return;
}
m_pathNodePosition = 0;
m_expandedPathPosition = 0;
m_expandedPath.Clear();
m_pathNodes.Clear();
m_usedWholePath = false;
m_valid = true;
ProfilerShort.End();
}
public void Init(Vector3D start, MySmartGoal goal)
{
ProfilerShort.Begin("MySmartPath.Init()");
Debug.Assert(m_valid == false);
m_lastInitTime = MySandboxGame.TotalGamePlayTimeInMilliseconds;
m_startPoint = start;
m_goal = goal;
ProfilerShort.Begin("Find start primitive");
ProfilerShort.Begin("FindClosestPrimitive");
m_currentPrimitive = m_pathfinding.FindClosestPrimitive(start, highLevel: false);
if (m_currentPrimitive != null)
{
ProfilerShort.BeginNextBlock("GetHighLevelPrimitive");
m_hlBegin = m_currentPrimitive.GetHighLevelPrimitive();
Debug.Assert(m_hlBegin != null, "Start primitive did not have a high-level primitive!");
if (m_hlBegin != null && !m_pathNodes.Contains(m_hlBegin))
{
ProfilerShort.BeginNextBlock("ObservePrimitive");
m_hlBegin.Parent.ObservePrimitive(m_hlBegin, this);
}
}
ProfilerShort.End();
ProfilerShort.End();
if (m_currentPrimitive == null)
{
// CH: TODO: Starting primitive was not found. What to do now?
m_currentPrimitive = null;
Invalidate();
ProfilerShort.End();
return;
}
m_pathNodePosition = 0;
m_expandedPathPosition = 0;
m_expandedPath.Clear();
m_pathNodes.Clear();
m_usedWholePath = false;
m_valid = true;
ProfilerShort.End();
}
public void Reinit(Vector3D newStart)
{
MySmartGoal goal = this.m_goal;
MyEntity endEntity = goal.EndEntity;
this.ClearPathNodes();
this.m_expandedPath.Clear();
this.m_expandedPathPosition = 0;
this.m_currentPrimitive = null;
if (this.m_hlBegin != null)
{
this.m_hlBegin.Parent.StopObservingPrimitive(this.m_hlBegin, this);
}
this.m_hlBegin = null;
this.m_valid = false;
this.m_goal.Reinit();
this.Init(newStart, goal);
}
public MySmartPath FindPathGlobal(Vector3D begin, IMyDestinationShape end, MyEntity entity = null)
{
Debug.Assert(MyPerGameSettings.EnablePathfinding, "Pathfinding is not enabled!");
if (!MyPerGameSettings.EnablePathfinding)
{
return(null);
}
ProfilerShort.Begin("MyPathfinding.FindPathGlobal");
// CH: TODO: Use pooling
MySmartPath newPath = new MySmartPath(this);
MySmartGoal newGoal = new MySmartGoal(end, entity);
newPath.Init(begin, newGoal);
ProfilerShort.End();
return(newPath);
}
public MyPath<MyNavigationPrimitive> FindHighLevelPath(MyPathfinding pathfinding, MyHighLevelPrimitive startPrimitive)
{
m_pathfindingStatic = this;
var path = pathfinding.FindPath(startPrimitive, m_hlPathfindingHeuristic, m_hlTerminationCriterion, null, returnClosest: false);
pathfinding.LastHighLevelTimestamp = pathfinding.GetCurrentTimestamp();
m_pathfindingStatic = null;
return path;
}