private void CreatePathfindTest()
{
SetupPathfinding();
_pathfinderTest = new List <DebugPathfind>();
var pathfinder = new AstarP3Pathfinder();
AstarP3Pathfinder.SetAxis(2);
var grid = World.Get <PathfindingSystem>().Grid;
var nodePath = new List <Point3>();
var start = transform.position.toPoint3();
var result = pathfinder.Run(PathfindingRequest.Create(grid, 0, start, (transform.position + _target).toPoint3(), null, false, nodePath));
if (nodePath.Count == 0)
{
Debug.Log(pathfinder.KeyedDict.Count + " " + result);
grid.ClearAll();
return;
}
var startCost = pathfinder.KeyedDict[nodePath[0]].TotalCost;
var endNode = pathfinder.KeyedDict[nodePath.LastElement()];
endNode.EndCost = 0;
endNode.StartCost = Vector3.Distance(nodePath[0].toVector3(), endNode.Value.toVector3());
float maxCost = startCost;
foreach (var p3Node in pathfinder.KeyedDict)
{
if (p3Node.Value.TotalCost > maxCost)
{
maxCost = p3Node.Value.TotalCost;
}
}
foreach (var p3Node in pathfinder.KeyedDict)
{
Color nodeColor;
if (nodePath.Contains(p3Node.Value.Value))
{
nodeColor = Color.green;
}
else
{
nodeColor = Color.Lerp(Color.white, Color.red, Mathf.InverseLerp(startCost, maxCost, p3Node.Value.TotalCost));
}
var node = new DebugPathfind(p3Node.Value.Value.toVector3(), nodeColor, p3Node.Value.StartCost, p3Node.Value.EndCost);
_pathfinderTest.Add(node);
}
grid.ClearAll();
}
public static PathfindingRequest Create(IPathfindingGrid grid, int id, Point3 start, Point3 end, PathFound foundEvent, bool overSized, List <Point3> path)
{
PathfindingRequest r;
if (_pooled.Count > 0)
{
r = _pooled.Dequeue();
r.Start = start;
r.End = end;
r.ReturnEvent = foundEvent;
r.Path = path;
r.ID = id;
r.Grid = grid;
r.IsOversized = overSized;
}
else
{
r = new PathfindingRequest(grid, id, start, end, foundEvent, overSized, path);
}
World.Get <PathfindingSystem>().Enqueue(r);
return(r);
}