private void FindPath(PathFinding_Request request)
{
bool foundPath = algorithmReferences[algoToUse].FindPath(request.start, request.goal, heuristic, ref request.nodeData, nodeGraph.MaxGridSize);
List <Node> path;
if (foundPath)
{
// Build the found path list from Goal to Start
path = BuildPath(request);
if (path.Count > 1)
{
// Reverse the found path to be from Start to Goal
path.Reverse();
// Simplify the path to take up less space and only track pivot points
path = SimplifyPath(path);
}
}
else
{
// If a path was not found return a null path
path = null;
}
PathFinding_Result result = new PathFinding_Result(request.callBack, path, foundPath);
// Lock the PathFinding class instance and decrement the active threads count
lock (_instance)
{
_ActiveThreads--;
pathRequesetResults.Enqueue(result);
}
}
/// <summary>
/// Create a pathfinding request from a start to a goal position.
/// </summary>
/// <param name="start">Start position Transform</param>
/// <param name="goal">Goal position Transform</param>
/// <param name="caller">Self reference to call back and update path data</param>
public static void RequestPath(Transform start, Transform goal, Action <List <Node>, bool> callBack)
{
Node startNode = _instance.nodeGraph.NodeFromWorldPoint(start.position);
Node goalNode = _instance.nodeGraph.NodeFromWorldPoint(goal.position);
PathFinding_Request newRequest = new PathFinding_Request(startNode, goalNode, callBack);
_instance.pathRequests.Enqueue(newRequest);
}
/// <summary>
/// Spin up a thread to find a path given PathFinding Request data
/// </summary>
/// <param name="request"></param>
private void StartPathFindingThread(PathFinding_Request request)
{
Thread pathFindingThread = new Thread(() => FindPath(request));
// Set the threads priority to low so it doesn't take resources from the main thread
pathFindingThread.Priority = System.Threading.ThreadPriority.Lowest;
// Tell the thread to run in the background
pathFindingThread.IsBackground = true;
pathFindingThread.Start();
_ActiveThreads++;
}
