/// <summary>
/// Internal method.
/// Performs trajectory processing procedures.
/// (asynchronous execution is assumed)
/// </summary>
/// <param name="inpData"></param>
void PathProcessThreadMethod(object inpData)
{
CancellationToken cTInstance = cTSInstance.Token;
PathProcessParamContainer pPPCInstance = (PathProcessParamContainer)inpData;
List <Vector3> newPath = new List <Vector3>();
lock (pPPCInstance.pathToProcess)
newPath.AddRange(pPPCInstance.pathToProcess);
newPath[newPath.Count - 1] = targetCoord;
newPath.Insert(0, pPPCInstance.startPos);
if (cTInstance.IsCancellationRequested)
{
return;
}
//call optimization functions and smooth trajectory
if (pPPCInstance.trajectoryOptimization)
{
newPath = PathHandler.PathFancification(newPath, pPPCInstance.pathfindingLevel);
newPath = PathHandler.PathOptimization(newPath, pPPCInstance.pathfindingLevel);
}
if (pPPCInstance.trajectorySmoothing)
{
newPath = PathHandler.PathSmoothing(newPath, pPPCInstance.pathfindingLevel);
}
if (cTInstance.IsCancellationRequested)
{
return;
}
for (int i = 1; i <= newPath.Count - 1; i++)
{
totalLength += Vector3.Distance(newPath[i - 1], newPath[i]);
}
lock (finalPath)
{
finalPath.AddRange(newPath);
}
if (cTInstance.IsCancellationRequested)
{
return;
}
lock (actionsQueue)
actionsQueue.Enqueue(pPPCInstance.furtherActions);
}
/// <summary>
/// Starts trajectory processing procedures (optimization & smoothing) asyncronously.
/// </summary>
/// <param name="path">Path to process.</param>
void ProcessPath(List <Vector3> path)
{
PathProcessParamContainer pPPCInstance = new PathProcessParamContainer
{
trajectoryOptimization = trajectoryOptimization,
trajectorySmoothing = trajectorySmoothing,
pathfindingLevel = this.pathfindingLevel,
pathToProcess = foundPath,
startPos = thisTransformInstance.position,
furtherActions = () =>
{
if (tracePath)
{
DrawAPath(finalPath);
}
ThrowUniversalEvent("EventProcessingFinished");
ThrowUniversalEvent("EventMovementStarted");
curCond = Movement;
}
};
ThreadPool.QueueUserWorkItem(PathProcessThreadMethod, pPPCInstance);
}
