//TODO: maybe need to generate a height map file as well just for this, because it takes a long time
private void BuildGraph()
{
Logger.LogPathfinding(
$"PathfinderData.BuildGraph()",
LogLevel.DEBUG);
// TODO: Add nodes for terrain features
/*// Fill in any big open spaces with a sparse grid in case the above missed anything important
* Vector3 newPos = new Vector3(0f, 0f, 0f);
* for (float x = -size.x/2; x < size.x/2; x += SparseGridSpacing / 10) {
* for (float z = -size.z/2; z < size.z/2; z += SparseGridSpacing / 10) {
* newPos.Set(x, 0f, z);
*
* float minDist = float.MaxValue;
* foreach (PathNode node in graph)
* minDist = Mathf.Min(minDist, Vector3.Distance(newPos, node.position));
*
* if (minDist > SparseGridSpacing)
* graph.Add(new PathNode(newPos));
* }
* }*/
// Remove nodes that are right on top of each other
for (int i = 0; i < _graphFastMove.Count; i++)
{
for (int j = i + 1; j < _graphFastMove.Count; j++)
{
if ((Position(_graphFastMove[i]) - Position(_graphFastMove[j])).magnitude < NODE_PRUNE_DIST_THRESH)
{
_graphFastMove.RemoveAt(j);
}
}
}
_openSet = new FastPriorityQueue <PathNode>(_graphFastMove.Count + 1);
// find all nodes that are around bridges. This will help pathfinding
// when not in fast move mode.
foreach (PathNode pn in _graphFastMove)
{
foreach (Vector3 bridge in _map.Bridges())
{
Vector3 pnPos = new Vector3(pn.x, pn.y, pn.z);
if (pn.IsRoad && (pnPos - bridge).magnitude < ARC_MAX_DIST / 2)
{
_graphRegularMove.Add(new PathNode(pnPos, true));
}
}
}
for (int i = 0; i < _graphRegularMove.Count; i++)
{
for (int j = i + 1; j < _graphRegularMove.Count; j++)
{
if ((Position(_graphRegularMove[i]) - Position(_graphRegularMove[j])).magnitude < ARC_MAX_DIST)
{
AddArc(_graphRegularMove[i], _graphRegularMove[j]);
}
}
}
// Compute arcs for all pairs of nodes within cutoff distance
// we are attempting to create a connected graph here with each edge
// representing time/value for each mobility type at the node
for (int i = 0; i < _graphFastMove.Count; i++)
{
for (int j = i + 1; j < _graphFastMove.Count; j++)
{
if ((Position(_graphFastMove[i]) - Position(_graphFastMove[j])).magnitude < ARC_MAX_DIST)
{
AddArc(_graphFastMove[i], _graphFastMove[j]);
}
}
double percent = ((double)i / (double)_graphFastMove.Count) * 100.0;
SetPercentComplete(percent);
}
// leave this for now in case things get a little crazy for path finding later
// Remove unnecessary arcs.
// An arc in necessary if for any MobilityType, the direct path
// between the nodes is at least as good as the optimal global path.
// This is a brute force approach and it might be too slow.
//List<PathNode> path = new List<PathNode>();
//for (int i = 0; i < _graph.Count; i++)
//{
// for (int j = i + 1; j < _graph.Count; j++)
// {
// PathArc arc = GetArc(_graph[i], _graph[j]);
// if (arc.Equals(INVALID_ARC))
// continue;
// bool necessary = false;
// foreach (MobilityData mobility in _mobilityTypes)
// {
// if (arc.Time[mobility.Index] == Pathfinder.FOREVER)
// continue;
// float time = FindPath(path,
// Position(_graph[i]), Position(_graph[j]),
// mobility, 0f, MoveCommandType.FAST);
// if (arc.Time[mobility.Index] < 1.5 * time)
// {
// necessary = true;
// break;
// }
// }
// if (!necessary)
// RemoveArc(_graph[i], _graph[j]);
// }
// double percent = ((double)i / (double)_graph.Count) * 100.0;
// SetPercentComplete(percent);
//if ((int)percent % 2 == 0)
//{
// yield return null;
//}
//}
}
