/// <summary>
/// Upon completion of pathfinding, this method builds the path that autopilot will have to follow.
/// </summary>
/// <param name="forwardHash">Position hash of the forward node that was reached.</param>
/// <param name="backward">The backward set that was reached.</param>
/// <param name="backwardHash">Position hash of the backward node that was reached.</param>
private void BuildPath(long forwardHash, PathNodeSet backward = null, long backwardHash = 0L)
{
m_path.Clear();
#if SHOW_PATH
PurgeTempGPS();
#endif
Log.DebugLog("Obstruction: " + m_obstructingEntity.Entity.nameWithId() + ", match position: " + m_obstructingEntity.MatchPosition + ", position: " + m_obstructingEntity.GetPosition() + ", actual position: " + m_obstructingEntity.Entity.PositionComp.GetPosition());
PathNode node;
if (!m_forward.TryGetReached(forwardHash, out node))
{
Log.AlwaysLog("Parent hash " + forwardHash + " not found in forward set, failed to build path", Logger.severity.ERROR);
if (backward.HasReached(forwardHash))
{
Log.AlwaysLog("Backward set does contains hash", Logger.severity.DEBUG);
}
PathfindingFailed();
return;
}
while (node.DistToCur != 0f)
{
#if SHOW_PATH
ShowPosition(node, "Path");
#endif
m_path.AddFront(ref node.Position);
Log.DebugLog("Forward: " + ReportRelativePosition(node.Position));
if (!m_forward.TryGetReached(node.ParentKey, out node))
{
Log.AlwaysLog("Child hash " + forwardHash + " not found in forward set, failed to build path", Logger.severity.ERROR);
if (backward.HasReached(forwardHash))
{
Log.AlwaysLog("Backward set does contains hash", Logger.severity.DEBUG);
}
PathfindingFailed();
return;
}
}
m_path.AddFront(ref node.Position);
Log.DebugLog("Forward: " + ReportRelativePosition(node.Position));
if (backwardHash != 0L)
{
if (!backward.TryGetReached(backwardHash, out node))
{
Log.AlwaysLog("Parent hash " + backwardHash + " not found in backward set, failed to build path", Logger.severity.ERROR);
if (m_forward.HasReached(forwardHash))
{
Log.AlwaysLog("Forward set does contains hash", Logger.severity.DEBUG);
}
PathfindingFailed();
return;
}
if (forwardHash == backwardHash && node.ParentKey != 0L)
{
if (!backward.TryGetReached(node.ParentKey, out node))
{
Log.AlwaysLog("First child hash " + backwardHash + " not found in backward set, failed to build path", Logger.severity.ERROR);
if (m_forward.HasReached(forwardHash))
{
Log.AlwaysLog("Forward set does contains hash", Logger.severity.DEBUG);
}
PathfindingFailed();
return;
}
}
while (node.DistToCur != 0f)
{
#if SHOW_PATH
ShowPosition(node, "Path");
#endif
m_path.AddBack(ref node.Position);
Log.DebugLog("Backward: " + ReportRelativePosition(node.Position));
if (!backward.TryGetReached(node.ParentKey, out node))
{
Log.AlwaysLog("Child hash " + backwardHash + " not found in backward set, failed to build path", Logger.severity.ERROR);
if (m_forward.HasReached(forwardHash))
{
Log.AlwaysLog("Forward set does contains hash", Logger.severity.DEBUG);
}
PathfindingFailed();
return;
}
}
m_path.AddBack(ref node.Position);
Log.DebugLog("Backward: " + ReportRelativePosition(node.Position));
}
//#if PROFILE
// LogStats();
//#endif
foreach (Vector3D position in m_path.m_positions)
{
Log.DebugLog("Path: " + ReportRelativePosition(position));
}
if (backward != null)
{
for (int i = 0; i < m_backwardList.Length; i++)
{
if (m_backwardList[i] == backward)
{
m_pickedDestination = m_destinations[i];
Log.DebugLog("Picked destination: " + m_pickedDestination);
break;
}
}
}
CurrentState = State.FollowingPath;
Log.DebugLog("Built path", Logger.severity.INFO);
//Logger.DebugNotify("Finished Pathfinding", level: Logger.severity.INFO);
SetNextPathTarget();
}