/// <summary>
/// Called when a node is reached. Tests against targets and creates new nodes.
/// </summary>
/// <param name="pnSet">The active set.</param>
/// <param name="currentNode">The node that was reached.</param>
/// <param name="input">Param for CanTravelSegment, Offset and Direction should be correct.</param>
/// <param name="proximity">Result from CanTravelSegment, how close the ship would come to an entity when traveling to this node from its parent.</param>
private void ReachedNode(FindingSet pnSet, ref PathNode currentNode, ref PathTester.TestInput input, float proximity)
{
// impose a penalty for going near entities, this does not affect this node but will affect its children
// this really helps prevent pathfinder getting stuck but the penalty might be too high
float penalty = 10f * (100f - MathHelper.Clamp(proximity, 0f, 100f));
Log.DebugLog(SetName(pnSet) + " Reached node: " + ReportRelativePosition(currentNode.Position) + " from " + ReportRelativePosition(pnSet.m_reachedNodes[currentNode.ParentKey].Position) +
", reached: " + pnSet.m_reachedNodes.Count + ", open: " + pnSet.m_openNodes.Count + ", proximity: " + proximity + ", penalty: " + penalty);
currentNode.DistToCur += penalty;
long cNodePosHash = currentNode.Key;
pnSet.m_reachedNodes.Add(cNodePosHash, currentNode);
if (!m_canChangeCourse)
{
// test from current node position to destination
Log.DebugLog(SetName(pnSet) + " Running backwards search", Logger.severity.ERROR, condition: pnSet != m_forward);
Vector3D.Subtract(ref m_currentPosition, ref pnSet.m_referencePosition, out input.Offset);
input.Length = (float)Vector3D.Distance(currentNode.Position, pnSet.m_referencePosition);
if (CanTravelSegment(ref input, out proximity))
{
Log.DebugLog(SetName(pnSet) + " Reached destination from node: " + ReportRelativePosition(currentNode.Position));
Log.DebugLog("Backwards start is not reference position", Logger.severity.ERROR, condition: m_backwardList[0].m_startPosition != pnSet.m_referencePosition);
BuildPath(cNodePosHash, m_backwardList[0], pnSet.m_referencePosition.GetHash());
return;
}
#if SHOW_REACHED
ShowPosition(currentNode, SetName(pnSet));
#endif
return;
}
foreach (PathNodeSet target in pnSet.m_targets)
{
if (target.HasReached(cNodePosHash))
{
Log.DebugLog(SetName(pnSet) + " Opposite set has same position");
if (pnSet == m_forward)
{
BuildPath(cNodePosHash, target, cNodePosHash);
}
else
{
BuildPath(cNodePosHash, pnSet, cNodePosHash);
}
return;
}
}
Vector3D obstructPosition = m_obstructingEntity.GetPosition();
Vector3D currentNodeWorld; Vector3D.Add(ref obstructPosition, ref currentNode.Position, out currentNodeWorld);
BoundingSphereD sphere = new BoundingSphereD()
{
Center = currentNodeWorld, Radius = m_autopilotShipBoundingRadius + 100f
};
m_entitiesRepulse.Clear(); // use repulse list as prune/avoid is needed for CanTravelSegment
MyGamePruningStructure.GetAllTopMostEntitiesInSphere(ref sphere, m_entitiesRepulse);
if (m_entitiesRepulse.Count == 0 && BlueSkyReached(pnSet, currentNode, ref currentNodeWorld))
{
return;
}
#if SHOW_REACHED
ShowPosition(currentNode, SetName(pnSet));
#endif
if (pnSet.NodeDistance < FindingSet.DefaultNodeDistance && pnSet.m_reachedNodes.Count % 10 == 0 && pnSet.m_openNodes.Count > 100)
{
Log.DebugLog("Reached: " + pnSet.m_reachedNodes.Count + ", trying with higher node distance");
pnSet.ChangeNodeDistance(false, m_canChangeCourse);
return;
}
pnSet.CreatePathNode(ref currentNode, m_canChangeCourse);
}
/// <summary>
/// Continues pathfinding.
/// </summary>
/// <param name="pnSet">The active set.</param>
private void ContinuePathfinding(FindingSet pnSet)
{
//PathNodeSet pnSet = isForwardSet ? m_forward : m_backward;
Log.DebugLog(SetName(pnSet) + " m_obstructingEntity == null", Logger.severity.ERROR, condition: m_obstructingEntity.Entity == null);
if (pnSet.m_openNodes.Count == 0)
{
OutOfNodes(pnSet);
return;
}
PathNode currentNode = pnSet.m_openNodes.RemoveMin();
if (currentNode.DistToCur == 0f)
{
Log.DebugLog(SetName(pnSet) + " first node: " + ReportRelativePosition(currentNode.Position));
pnSet.CreatePathNode(ref currentNode, m_canChangeCourse);
return;
}
if (pnSet.HasReached(currentNode.Position.GetHash()))
{
//Log.DebugLog("Already reached: " + ReportRelativePosition(currentNode.Position), secondaryState: SetName(direction));
return;
}
FillEntitiesLists();
Vector3 repulsion;
CalcRepulsion(false, out repulsion);
Log.DebugLog(SetName(pnSet) + " Calculated repulsion for some reason: " + repulsion, Logger.severity.WARNING, condition: repulsion != Vector3.Zero);
PathNode parent;
if (!pnSet.m_reachedNodes.TryGetValue(currentNode.ParentKey, out parent))
{
Log.DebugLog("Failed to get parent", Logger.severity.ERROR);
return;
}
Vector3D worldParent;
Vector3D obstructPosition = m_obstructingEntity.GetPosition();
Vector3D.Add(ref obstructPosition, ref parent.Position, out worldParent);
PathTester.TestInput input;
Vector3D.Subtract(ref worldParent, ref m_currentPosition, out input.Offset);
input.Direction = currentNode.DirectionFromParent;
input.Length = currentNode.DistToCur - parent.DistToCur;
float proximity;
if (!CanTravelSegment(ref input, out proximity))
{
#if PROFILE
pnSet.m_unreachableNodes++;
#endif
//Log.DebugLog("Not reachable: " + ReportRelativePosition(currentNode.Position), secondaryState: SetName(pnSet));
return;
}
ReachedNode(pnSet, ref currentNode, ref input, proximity);
}
