public void Set(PathPlanParams planParams, Pool <PathPlanner> .Node pathPlanner, IPathAgent agent)
{
m_pathPlanParams = planParams;
m_pathPlanner = pathPlanner;
m_replanTimeRemaining = planParams.ReplanInterval;
m_agent = agent;
}
public void Set(PathPlanParams_Batch planParams, Pool <PathPlanner> .Node pathPlanner, IPathAgent agent)
{
m_pathPlanParams = planParams;
m_pathPlanner = pathPlanner;
m_agent = agent;
m_solutionNodeList.Clear();
}
//NEEDED IF USING THE QUEUE DISPATCH SYSTEM.
public static void Update()
{
for (int i = 0; i < maxDispatchedAgent; i++)
{
if (waitingForPath.Count == 0)
{
break;
}
IPathAgent agent = waitingForPath.Dequeue();
agent.ReceivePath(GetPath(agent.PathFindingStart, agent.PathFindingEnd));
}
}
public IPathRequestQuery RequestPathPlan(PathPlanParams_Batch pathPlanParams, IPathAgent agent)
{
if (!m_bInitialized)
{
UnityEngine.Debug.LogError("PathManagerComponent isn't yet fully intialized. Wait until Start() has been called. Can't call RequestPathPlan.");
return(null);
}
if (m_requestPool.Count == 0)
{
UnityEngine.Debug.Log("RequestPathPlan failed because it is already servicing the maximum number of requests: " +
m_maxNumberOfPlanners.ToString());
return(null);
}
if (m_pathPlannerPool.AvailableCount == 0)
{
UnityEngine.Debug.Log("RequestPathPlan failed because it is already servicing the maximum number of path requests: " +
m_maxNumberOfPlanners.ToString());
return(null);
}
// Clamp the start and goal positions within the terrain space, and make sure they are on the floor.
//pathPlanParams.UpdateStartAndGoalPos( m_terrain.GetValidPathFloorPos(pathPlanParams.StartPos) );
// Make sure this agent does not have an active request
if (m_activeRequests.Count > 0)
{
foreach (PathRequest_Batch pathRequest in m_activeRequests)
{
if (pathRequest.Agent.GetHashCode() == agent.GetHashCode())
{
System.Diagnostics.Debug.Assert(false, "Each agent can only have one path request at a time.");
return(null);
}
}
}
// Create the new request
Pool <PathPlanner> .Node pathPlanner = m_pathPlannerPool.Get();
PathRequest_Batch request = m_requestPool.Dequeue();
request.Set(pathPlanParams, pathPlanner, agent);
m_activeRequests.AddFirst(request);
// Start the request
pathPlanner.Item.StartANewPlan(request.PlanParams.GetCurrentIndex(), request.PlanParams.GetCurrentGoalIndexAndMoveNext());
return(request);
}
public static void FindPath(IPathAgent agent, Vector3 endLocation)
{
var dir = endLocation - agent.transform.position;
var hit = Physics2D.Raycast(agent.transform.position, dir, dir.magnitude, Mesh.terrainLayer);
if (hit.collider == null)
{
agent.OnPathFound(new List <Vector3>()
{
endLocation
}, float.Epsilon);
return;
}
var start = Mesh[agent.transform.position];
var end = Mesh[endLocation];
if (start == null || start.disabled || end == null || end.disabled)
{
agent.OnPathFailed(5);
return;
}
var request = new PathRequest()
{
agent = agent,
start = start,
end = end
};
Instance.pathRequests.Enqueue(request);
if (pathThreads < MaxPathThreads)
{
pathThreads++;
Task task = new Task(PathThread);
task.Start();
}
}
public static void RequestPath(IPathAgent agent, Vector3 start, Vector3 end)
{
waitingForPath.Enqueue(agent);
agent.PathFindingStart = start;
agent.PathFindingEnd = end;
}
public IPathRequestQuery RequestPathPlan(PathPlanParams pathPlanParams, IPathAgent agent)
{
if ( !m_bInitialized )
{
UnityEngine.Debug.LogError("PathManagerComponent isn't yet fully intialized. Wait until Start() has been called. Can't call RequestPathPlan.");
return null;
}
if ( m_requestPool.Count == 0 )
{
UnityEngine.Debug.Log("RequestPathPlan failed because it is already servicing the maximum number of requests: " +
m_maxNumberOfPlanners.ToString());
return null;
}
if ( m_pathPlannerPool.AvailableCount == 0 )
{
UnityEngine.Debug.Log("RequestPathPlan failed because it is already servicing the maximum number of path requests: " +
m_maxNumberOfPlanners.ToString());
return null;
}
// Clamp the start and goal positions within the terrain space, and make sure they are on the floor.
pathPlanParams.UpdateStartAndGoalPos( m_terrain.GetValidPathFloorPos(pathPlanParams.StartPos) );
// Make sure this agent does not have an active request
if ( m_activeRequests.Count > 0 )
{
foreach ( PathRequest pathRequest in m_activeRequests )
{
if ( pathRequest.Agent.GetHashCode() == agent.GetHashCode() )
{
System.Diagnostics.Debug.Assert(false, "Each agent can only have one path request at a time.");
return null;
}
}
}
// Make sure this agent does not have a completed request
if ( m_activeRequests.Count > 0 )
{
foreach ( PathRequest pathRequest in m_completedRequests )
{
if ( pathRequest.Agent.GetHashCode() == agent.GetHashCode() )
{
System.Diagnostics.Debug.Assert(false, "Each agent can only have one path request at a time.");
return null;
}
}
}
// Create the new request
Pool<PathPlanner>.Node pathPlanner = m_pathPlannerPool.Get();
PathRequest request = m_requestPool.Dequeue();
request.Set(pathPlanParams, pathPlanner, agent);
m_activeRequests.AddFirst(request);
// Start the request
int startNodeIndex = m_terrain.GetPathNodeIndex(pathPlanParams.StartPos);
int goalNodeIndex = m_terrain.GetPathNodeIndex(pathPlanParams.GoalPos);
pathPlanner.Item.StartANewPlan(startNodeIndex, goalNodeIndex);
return request;
}
