public void AdvanceClosestBackwards()
{
PathTriangle closest = backwardsTails.Dequeue();
List <PathTriangle> circumjacent = closest.GetReachableCircumjacent();
PathTriangle t;
int count = circumjacent.Count;
for (int i = 0; i < count; ++i)
{
t = circumjacent[i];
if (t.LastUsedInBackwardsPathIteration < pathIteration)
{
if (t.LastUsedInPathIteration >= pathIteration)
{
reachedTarget = true;
forwardPath = t;
backwardsPath = closest;
break;
}
else
{
t.SetUsedInBackwardsPathIteration(pathIteration);
t.pathParent = closest;
t.prevDistance = closest.prevDistance + closest.DistanceTo(t);
AddTailUnchecked(t, backwardsTails);
}
}
}
}
public Path(PathTriangle current, Path parent, float distanceToNode)
{
depth = parent.depth + 1;
this.current = current;
target = parent.target;
this.parent = parent;
previousDistance = distanceToNode;
distance = current.DistanceToTarget(target);
}
private MarchingCubesPathfinder(PathTriangle start, PathTriangle target, PathAccuracy accuracy, float estimatedStepProgress = 0.5f)
{
this.start = start;
this.target = target;
pathAccuracy = AccuracyFactor(accuracy);
float estimatedLength = start.DistanceToTarget(target);
int estimatedQueueSize = (int)Mathf.Clamp(estimatedStepProgress * estimatedLength * (1 - (pathAccuracy / 2)), 10, 10000);
pathTails = new BinaryHeap <float, PathTriangle>(float.MinValue, float.MaxValue, estimatedQueueSize / 2);
backwardsTails = new BinaryHeap <float, PathTriangle>(float.MinValue, float.MaxValue, estimatedQueueSize / 2);
}
public Path(PathTriangle current, PathTriangle target)
{
parent = null;
this.current = current;
this.target = target;
}
public Path Advance(PathTriangle t)
{
return(new Path(t, this, previousDistance + t.DistanceTo(current)));
}
public static IList <PathTriangle> FindPath(PathTriangle start, PathTriangle target, PathAccuracy accuracy)
{
return(new MarchingCubesPathfinder(start, target, accuracy).GetPath());
}
public void AddTailUnchecked(PathTriangle p, BinaryHeap <float, PathTriangle> addHere)
{
float key = p.prevDistance * pathAccuracy + p.DistanceToTarget(target);
addHere.Enqueue(key, p);
}
public bool DoesFieldCompletePath(PathTriangle tri)
{
return(tri.LastUsedInBackwardsPathIteration == tri.LastUsedInPathIteration);
}