public void newMilestonesFromAStar(Vector2 start, Vector2 end)
{
//Debug.LogFormat("{0} is Start AStar!",CharacterController.name);
//Debug.LogFormat("S:{0},E:{1}",start,end);
CurrentGoalPosition = end;
if (Vector2.Distance(start, end) <= 1)
{
if (CharacterController.canMoveNextPosition(end))
{
newMileStones(new Vector2[] { end });
}
return;
}
int mask = TagList.getLayerMask(TagList.Wall, TagList.Road);
Debug.logger.Log(CharacterController.name, string.Format("S:{0} E:{1}", start, end));
var st = Physics2D.OverlapPoint(start,mask).GetComponent<TileEntity>();
var et = Physics2D.OverlapPoint(end, mask).GetComponent<TileEntity>();
//Debug.LogFormat("ST:{0},ET:{1}",st.Position,et.Position);
isOpenRouteFunc isopenroutefunc = isOpenRoute;
//calcSpecialNodeCostFunc caclspecialnodecostfunc = calcSpecialCost;
AStarSearch search = new AStarSearch(st, et, SpecialNodeCoseCalculater,null,isopenroutefunc,calcScoreHeuristic);
var route = new List<Vector2>(search.getRoutePositions(start,end));
newMileStones(route.ToArray());
Debug.logger.Log(CharacterController.name, showMileStones());
//if(MilestonesIncludingEndPosition) route.Add(end);
//Debug.LogFormat("{0} AStar End:{1},{2},{3}", CharacterController.name, start, end,route[0]);
}