private void GenerateHighLevelPath()
{
ClearPathNodes();
if (m_hlBegin == null)
{
return;
}
var path = m_goal.FindHighLevelPath(m_pathfinding, m_hlBegin);
if (path == null)
{
// CH: TODO: No path found (not even to an unexplored primitive). We're trapped! What now?
return;
}
foreach (var primitive in path)
{
Debug.Assert(primitive.Vertex is MyHighLevelPrimitive);
var hlPrimitive = primitive.Vertex as MyHighLevelPrimitive;
m_pathNodes.Add(hlPrimitive);
if (hlPrimitive != m_hlBegin)
{
hlPrimitive.Parent.ObservePrimitive(hlPrimitive, this);
}
}
m_pathNodePosition = 0;
}
// MW:TODO optimize or change
public bool ReachableUnderThreshold(Vector3D begin, IMyDestinationShape end, float thresholdDistance)
{
m_reachPredicateDistance = thresholdDistance;
var beginPrimitive = FindClosestPrimitive(begin, false);
var endPrimitive = FindClosestPrimitive(end.GetDestination(), false);
if (beginPrimitive == null || endPrimitive == null)
{
return(false);
}
var beginHL = beginPrimitive.GetHighLevelPrimitive();
var endHL = endPrimitive.GetHighLevelPrimitive();
ProfilerShort.Begin("HL");
MySmartGoal goal = new MySmartGoal(end);
var path = goal.FindHighLevelPath(this, beginHL);
ProfilerShort.End();
if (path == null)
{
return(false);
}
m_reachEndPrimitive = endPrimitive;
ProfilerShort.Begin("Prepare for travesal");
PrepareTraversal(beginPrimitive, null, ReachablePredicate);
ProfilerShort.End();
ProfilerShort.Begin("checking for vertices");
try
{
foreach (var vertex in this)
{
if (vertex.Equals(m_reachEndPrimitive))
{
return(true);
}
}
}
finally
{
ProfilerShort.End();
}
return(false);
}
