public void FindPaths()
{
grid = new PathGrid(Drones, Targets);
pathData.Sort((a, b) => a.distance.CompareTo(b.distance));
totalTime = 0.0f;
foreach (PathData path in pathData)
{
StartPath(path, grid);
}
totalTime += TIMESTEP;
grid.ClearOccupancy();
int completeCount = 0;
int iterationCount = 0;
while (completeCount < pathData.Count)
{
completeCount = StepPathfinding();
iterationCount += 1;
if (iterationCount >= MaxIterations)
{
break;
}
}
MergeNodes();
Debug.Log("Complete count: " + completeCount + " / " + pathData.Count);
EditorApplication.QueuePlayerLoopUpdate();
}
public int StepPathfinding()
{
int completeCount = pathData.Count(item => item.complete);
if (completeCount == pathData.Count)
{
return(completeCount);
}
grid.ClearOccupancy();
Step(grid, TIMESTEP, totalTime);
//Debug.Log($"Grid occupancy: {grid.TotalOccupancy} / {grid.Capacity}");
totalTime += TIMESTEP;
EditorApplication.QueuePlayerLoopUpdate();
return(completeCount);
}
public void StartPathfinding()
{
grid = new PathGrid(Drones, Targets);
pathData.Sort((a, b) => a.distance.CompareTo(b.distance));
totalTime = 0.0f;
foreach (PathData path in pathData)
{
StartPath(path, grid);
}
totalTime += TIMESTEP;
grid.ClearOccupancy();
EditorApplication.QueuePlayerLoopUpdate();
}