public bool IsTilePassable(Vector2Int tileCoords)
{
return(Tilemapper.IsGridPassableAtCoordinate(gameWorldBaseGrid, tileCoords));
}
public MovementPath FindShortestPath(Vector2Int source, List <Vector2Int> validDestinations, PathOptions pathOptions)
{
SortedList <double, Vector2Int> toVisitList = new SortedList <double, Vector2Int>(new DuplicateKeyComparer <double>());
HashSet <Vector2Int> visited = new HashSet <Vector2Int>();
Dictionary <Vector2Int, Vector2Int> originPosition = new Dictionary <Vector2Int, Vector2Int>();
//instantiate the to-visit list
toVisitList.Add(0, source);
while ((toVisitList.Count > 0) && (!visited.Intersect(validDestinations).Any()))
{
var currentPosition = toVisitList.Values[0];
var currentCost = toVisitList.Keys[0];
toVisitList.RemoveAt(0);
// Debug.Log("visiting " + currentPosition);
if (visited.Contains(currentPosition))
{
continue;
}
visited.Add(currentPosition);
var neighbours = GetAllNeighbours(currentPosition);
foreach (Vector2Int neighbour in neighbours)
{
if (visited.Contains(neighbour) || toVisitList.ContainsValue(neighbour))
{
continue;
}
if (!Tilemapper.IsGridPassableAtCoordinate(_gameWorld, neighbour))
{
continue;
}
originPosition.Add(neighbour, currentPosition);
double newCost = currentCost + CalculateCost(currentPosition, neighbour, 1f);
toVisitList.Add(newCost, neighbour);
}
}
if (visited.Intersect(validDestinations).Any())
{
//build the return path
List <Vector2Int> listOfCoords = new List <Vector2Int>();
var currentPosition = visited.Intersect(validDestinations).First();
var timeout = 0;
while (currentPosition != source || timeout > 5000)
{
listOfCoords.Insert(0, currentPosition);
currentPosition = originPosition[currentPosition];
timeout++;
}
listOfCoords.Insert(0, currentPosition);
if (timeout >= 5000)
{
throw new TimeoutException("Finding source of path timed out -- unexpected!");
}
return(new MovementPath(listOfCoords.Select(it => it.ToVec3()).ToList()));
}
return(null);
}
