public void Clear()
{
pathNodes = new List <PathNode>();
closed = new List <Vector3>();
opened = new List <PathNode>();
startPos = Vector3.zero;
endPos = Vector3.zero;
mode = PathFindingMode.Diagonal;
}
/// <summary>
/// Calcs a path
/// </summary>
/// <param name="navQuery">Navigation query</param>
/// <param name="filter">Filter</param>
/// <param name="polyPickExt">Extensions</param>
/// <param name="mode">Path mode</param>
/// <param name="startPos">Start position</param>
/// <param name="endPos">End position</param>
/// <param name="resultPath">Result path</param>
/// <returns>Returns the status of the path calculation</returns>
private static Status CalcPath(
NavMeshQuery navQuery, QueryFilter filter, Vector3 polyPickExt,
PathFindingMode mode,
Vector3 startPos, Vector3 endPos, out Vector3[] resultPath)
{
resultPath = null;
navQuery.FindNearestPoly(startPos, polyPickExt, filter, out int startRef, out Vector3 nsp);
navQuery.FindNearestPoly(endPos, polyPickExt, filter, out int endRef, out Vector3 nep);
var endPointsDefined = (startRef != 0 && endRef != 0);
if (!endPointsDefined)
{
return(Status.DT_FAILURE);
}
if (mode == PathFindingMode.TOOLMODE_PATHFIND_FOLLOW)
{
if (CalcPathFollow(navQuery, filter, startPos, endPos, startRef, endRef, out var path))
{
resultPath = path;
return(Status.DT_SUCCESS);
}
}
else if (mode == PathFindingMode.TOOLMODE_PATHFIND_STRAIGHT)
{
if (CalcPathStraigh(navQuery, filter, startPos, endPos, startRef, endRef, out var path))
{
resultPath = path;
return(Status.DT_SUCCESS);
}
}
else if (mode == PathFindingMode.TOOLMODE_PATHFIND_SLICED)
{
return(navQuery.InitSlicedFindPath(
startRef, endRef, startPos, endPos, filter,
FindPathOptions.DT_FINDPATH_ANY_ANGLE));
}
return(Status.DT_FAILURE);
}
public static List <HexTile> FindPath(HexTile start, HexTile end, PathFindingMode mode = PathFindingMode.None)
{
endNode = end;
startNode = start;
pathFindingMode = mode;
if (pathFindingMode == PathFindingMode.ExcludeTarget)
{
targetFrame = endNode.currentFrame;
}
f = new Dictionary <HexTile, float>();
g = new Dictionary <HexTile, float>();
previous = new Dictionary <HexTile, HexTile>();
openList = new List <HexTile>();
closedList = new List <HexTile>();
f[startNode] = 0.0f;
openList.Add(start);
while (openList.Count > 0)
{
HexTile current = popMinTile();
if (current == end)
{
return(createPath());
}
closedList.Add(current);
epxandNode(current);
}
// No path found!
return(null);
}
public static List <PathNode> GetNearPathNodes(Vector3 pos, Vector3 startPos, Vector3 endPos, PathFindingMode mode)
{
List <PathNode> _pathNodes = new List <PathNode>();
var cpCoord = Utils.ChunkPosAndCoordForPosition(pos);
int4 cp = cpCoord.Item1;
int3 coord = cpCoord.Item2;
void Try(int3 offset)
{
if (Utils.GetBlock(coord, cp, offset).x == 0) // check ofsetted to be air
{
if (Utils.GetBlock(new int3(coord.x, coord.y - 1, coord.z), cp, offset).x != 0) //check block under offsetted to be not air
{
if (Utils.GetBlock(new int3(coord.x, coord.y + 1, coord.z), cp, offset).x == 0) // check block above ofsetted to be air
{
if (offset.y == -1)
{ // for blocks which are lower need to make sure that there is extra space above
if (Utils.GetBlock(new int3(coord.x, coord.y + 2, coord.z), cp, offset).x != 0)
{
return;
}
}
if (offset.y == 1)
{ // for upper blocks need to make sure that character can jump
if (Utils.GetBlock(new int3(coord.x, coord.y + 2, coord.z), cp, int3.zero).x != 0)
{
return;
}
}
var v = new Vector3(pos.x + offset.x, pos.y + offset.y, pos.z + offset.z);
var PathNode = new PathNode(v, startPos, endPos);
_pathNodes.Add(PathNode);
}
}
}
}
Try(new int3(-1, -1, 0));
Try(new int3(0, -1, -1));
Try(new int3(0, -1, 1));
Try(new int3(1, -1, 0));
Try(new int3(-1, 0, 0));
Try(new int3(0, 0, -1));
Try(new int3(0, 0, 1));
Try(new int3(1, 0, 0));
Try(new int3(-1, 1, 0));
Try(new int3(0, 1, -1));
Try(new int3(0, 1, 1));
Try(new int3(1, 1, 0));
if (mode == PathFindingMode.Diagonal)
{
Try(new int3(-1, -1, -1));
Try(new int3(-1, -1, 1));
Try(new int3(1, -1, -1));
Try(new int3(1, -1, 1));
Try(new int3(-1, 0, -1));
Try(new int3(-1, 0, 1));
Try(new int3(1, 0, -1));
Try(new int3(1, 0, 1));
Try(new int3(-1, 1, -1));
Try(new int3(-1, 1, 1));
Try(new int3(1, 1, -1));
Try(new int3(1, 1, 1));
}
SortNodes(ref _pathNodes);
return(_pathNodes);
}
public void ToggleMode()
{
mode = mode == PathFindingMode.Diagonal ? PathFindingMode.Squared : PathFindingMode.Diagonal;
}
