/// <summary>
/// Resolves the direct path or delegates the request on to path finding.
/// </summary>
/// <param name="req">The request.</param>
/// <returns>A path request to use in path finding or null if the path was resolved.</returns>
public IPathRequest ResolveDirectPath(IPathRequest req)
{
var to = req.to;
var from = req.from;
var toGrid = req.toGrid;
var fromGrid = req.fromGrid;
var unitProps = req.requesterProperties;
if (fromGrid == null)
{
fromGrid = req.fromGrid = GridManager.instance.GetGrid(from);
}
if (toGrid == null)
{
toGrid = req.toGrid = GridManager.instance.GetGrid(to);
//Just treat the to grid as the from grid in this case so the destination can be closest point on from grid
if (toGrid == null)
{
toGrid = req.toGrid = fromGrid;
}
}
//If no grids were resolved for this request it means the request involves two points outside the grid(s) that do not cross any grid(s), so we can move directly between them
if (fromGrid == null && toGrid == null)
{
req.Complete(new DirectPathResult(from, to, req));
return(null);
}
else if (fromGrid == null || toGrid == null)
{
req.Complete(DirectPathResult.Fail(PathingStatus.NoRouteExists, req));
return(null);
}
//Is the start node on a grid
Cell fromCell = fromGrid.GetCell(from, true);
//If the from cell is blocked, we have to get out to a free cell first
if (!fromCell.isWalkable(unitProps.attributes))
{
//Check for a free cell to escape to before resuming the planned path. If no free cell is found we are stuck.
//The unit may still get stuck even if a free cell is found, in case there is a physically impassable blockade
var escapeCell = fromGrid.GetNearestWalkableCell(from, from, true, req.pathFinderOptions.maxEscapeCellDistanceIfOriginBlocked, unitProps);
if (escapeCell == null)
{
req.Complete(DirectPathResult.Fail(PathingStatus.NoRouteExists, req));
return(null);
}
//Move to the free cell and then on with the planned path
req.Complete(DirectPathResult.CreateWithPath(from, escapeCell.position, to, req));
return(null);
}
return(req);
}
/// <summary>
/// Factory method to create a result with a path
/// </summary>
/// <param name="pathPoints">The path points.</param>
/// <param name="endWaypoint">The end way point.</param>
/// <param name="originalRequest">The original request.</param>
/// <returns>The result</returns>
public static DirectPathResult CreateWithPath(Vector3[] pathPoints, Vector3 endWaypoint, IPathRequest originalRequest)
{
var res = new DirectPathResult();
var path = new Path(pathPoints.Length);
for (int i = pathPoints.Length - 1; i >= 0; i--)
{
path.Push(new Position(pathPoints[i]));
}
res.path = path;
res.pendingWaypoints = new[] { endWaypoint };
res.originalRequest = originalRequest;
res.status = PathingStatus.Complete;
return res;
}
/// <summary>
/// Factory method to create a result with a path
/// </summary>
/// <param name="pathPoints">The path points.</param>
/// <param name="endWaypoint">The end way point.</param>
/// <param name="originalRequest">The original request.</param>
/// <returns>The result</returns>
public static DirectPathResult CreateWithPath(Vector3[] pathPoints, Vector3 endWaypoint, IPathRequest originalRequest)
{
var res = new DirectPathResult();
var path = new Path(pathPoints.Length);
for (int i = pathPoints.Length - 1; i >= 0; i--)
{
path.Push(new Position(pathPoints[i]));
}
res.path = path;
res.pendingWaypoints = new[] { endWaypoint };
res.originalRequest = originalRequest;
res.status = PathingStatus.Complete;
return(res);
}