public CellPath(CellPath existedPath, CellContent newConnection)
{
this.start = existedPath.start;
this.connections = new List <CellContent>(existedPath.connections);
this.connections.Add(newConnection);
this.path = new List <Cell>(existedPath.path);
this.path.Add(newConnection.connection);
}
public override void Work()
{
GetStartValues();
CheckChunkPath();
if (ReferenceEquals(startCell, endCell))
{
Path path = new Path(start_v3, (MoveState)(int)startCell.passability);
path.AddMove(end_v3, (MoveState)(int)startCell.passability);
path.RemoveFirst();
agent.ReceivePath(path);
callBack.Invoke();
return;
}
GeneratePaths();
if (potentialPaths.Count == 0)
{
Debug.Log("no path");
callBack.Invoke();
return;
}
CellPath targetCellPath = potentialPaths.OrderBy(val => val.gh).First();
funnelPath = new Path(start_v3, (MoveState)(int)targetCellPath.path.First().passability);
if (applyRaycast)
{
RaycastHitNavMesh rhnm;
Cell c = targetCellPath.connections[0].from;
Raycast(start_v3, end_v3 - start_v3, out rhnm, Vector3.Distance(start_v3, end_v3), raycastIterations, c.passability, c.area, c);
if (!rhnm.isOnGraph)
{
//Debuger_K.AddLine(start_v3, rhnm.point, Color.green);
//Debuger_K.AddDot(rhnm.point, Color.green, 0.2f);
funnelPath.AddMove(end_v3, (MoveState)(int)c.passability);
}
else
{
FunnelPath(targetCellPath, end_v3);
//Debuger_K.AddLine(start_v3, rhnm.point, Color.red);
//Debuger_K.AddDot(rhnm.point, Color.red, 0.2f);
}
}
else
{
FunnelPath(targetCellPath, end_v3);
}
//FunnelPath(targetCellPath, end_v3);
agent.ReceivePath(funnelPath);
callBack.Invoke();
}
protected void AddCellNode(CellPath node)
{
LinkedListNode <CellPath> targetNode = null;
for (LinkedListNode <CellPath> currentPath = linkedPaths.First;
currentPath != null && currentPath.Value.gh < node.gh;
currentPath = currentPath.Next)
{
targetNode = currentPath;
}
if (targetNode == null)
{
linkedPaths.AddFirst(node);
}
else
{
linkedPaths.AddAfter(targetNode, node);
}
}
protected void FunnelPath(CellPath path, Vector3 endV3)
{
List <Cell> cellPath = path.path;
List <CellContent> cellPathConnections = path.connections;
#if UNITY_EDITOR
if (Debuger_K.debugPath)
{
for (int i = 0; i < cellPath.Count - 1; i++)
{
Debuger_K.AddPath(cellPath[i].centerV3 + Vector3.up, cellPath[i + 1].centerV3 + Vector3.up, Color.magenta, 0.1f);
}
}
#endif
int keyGate = 0;
while (true)
{
if (keyGate >= cellPathConnections.Count)
{
break;
}
int curKeyGate;
List <CellContentGenericConnection> gateSiquence = new List <CellContentGenericConnection>();
for (curKeyGate = keyGate; curKeyGate < cellPathConnections.Count; curKeyGate++)
{
var c = cellPathConnections[curKeyGate];
if (c is CellContentGenericConnection)
{
gateSiquence.Add((CellContentGenericConnection)c);
}
else
{
break;
}
}
if (keyGate != curKeyGate)
{
DoFunnelIteration(funnelPath.lastV3, curKeyGate == cellPathConnections.Count ? endV3 : (cellPathConnections[curKeyGate] as CellContentPointedConnection).enterPoint, gateSiquence);
}
if (curKeyGate != cellPathConnections.Count)
{
if (cellPathConnections[curKeyGate] is CellContentPointedConnection)
{
CellContentPointedConnection ju = cellPathConnections[curKeyGate] as CellContentPointedConnection;
if (ju.jumpState == ConnectionJumpState.jumpUp)
{
funnelPath.AddMove(ju.lowerStandingPoint, (MoveState)(int)ju.from.passability);
funnelPath.AddJumpUp(ju.lowerStandingPoint, ju.axis);
funnelPath.AddMove(ju.exitPoint, (MoveState)(int)ju.connection.passability);
}
else
{
funnelPath.AddMove(ju.enterPoint, (MoveState)(int)ju.from.passability);
funnelPath.AddMove(ju.axis, (MoveState)(int)ju.from.passability);
funnelPath.AddJumpDown(ju.axis, ju.lowerStandingPoint);
funnelPath.AddMove(ju.exitPoint, (MoveState)(int)ju.connection.passability);
}
}
else
{
Debug.LogErrorFormat("idk type of CellConnectionAbstract node {0}", cellPathConnections[curKeyGate].GetType().Name);
}
}
keyGate = curKeyGate + 1;
}
funnelPath.AddMove(endV3, (MoveState)(int)cellPath[cellPath.Count - 1].passability);
#if UNITY_EDITOR
if (Debuger_K.debugPath)
{
var resultNodes = funnelPath.nodes;
for (int i = 0; i < resultNodes.Count - 1; i++)
{
Debuger_K.AddPath(resultNodes[i].positionV3, resultNodes[i + 1].positionV3, Color.green);
}
//for (int i = 0; i < resultNodes.Count; i++) {
// Debuger3.AddDot(resultNodes[i].positionV3, Color.green, 0.03f, DebugGroup.path);
// Debuger3.AddLabel(resultNodes[i].positionV3, resultNodes[i].ToString(), DebugGroup.path);
//}
}
#endif
funnelPath.RemoveFirst();
}
private void GeneratePaths()
{
CellPath path = new CellPath(startCell, start_v3);
if (startCell == endCell)
{
potentialPaths.Add(path);
return;
}
#if UNITY_EDITOR
float totalDist = Debuger_K.doDebug ? Vector3.Distance(start_v3, end_v3) : 0f;
#endif
path.h = EuclideanDistance(start_v3);
excluded.Clear();
excluded.Add(startCell);
foreach (var connection in startCell.connections)
{
CellPath newPath = new CellPath(path, connection);
newPath.g = connection.Cost(properties, ignoreCrouchCost);
if (connection is CellContentPointedConnection)
{
newPath.h = EuclideanDistance((connection as CellContentPointedConnection).exitPoint);
}
else
{
newPath.h = EuclideanDistance(connection.connection);
}
AddCellNode(newPath);
}
int limit = 0;
while (true)
{
limit++;
if (limit > 1500)
{
Debug.Log("limit > 1500");
break;
}
CellPath current = TakeCellNode();
if (current == null)
{
break;
}
Cell currentCell = current.last;
if (currentCell == endCell)
{
potentialPaths.Add(current);
#if UNITY_EDITOR
if (Debuger_K.doDebug)
{
float lerped = Mathf.InverseLerp(0, totalDist, Vector3.Distance(end_v3, currentCell.centerV3));
Debuger_K.AddPath(current.path[current.path.Count - 2].centerV3 + Vector3.up, current.path[current.path.Count - 1].centerV3 + Vector3.up, new Color(lerped, 1 - lerped, 0, 1f));
}
#endif
if (potentialPaths.Count >= maxPaths)
{
break;
}
else
{
continue;
}
}
if (excluded.Contains(currentCell))
{
continue;
}
else
{
excluded.Add(currentCell);
}
#if UNITY_EDITOR
if (Debuger_K.doDebug)
{
float lerped = Mathf.InverseLerp(0, totalDist, Vector3.Distance(end_v3, currentCell.centerV3));
Debuger_K.AddPath(current.path[current.path.Count - 2].centerV3 + (Vector3.up * 0.3f), current.path[current.path.Count - 1].centerV3 + (Vector3.up * 0.3f), new Color(lerped, 1 - lerped, 0, 1f));
}
#endif
foreach (var connection in currentCell.connections)
{
Cell newCell = connection.connection;
if (current.Contains(newCell) == false)
{
CellPath newPath = new CellPath(current, connection);
#if UNITY_EDITOR
if (Debuger_K.debugPath)
{
Debuger_K.AddLabel(SomeMath.MidPoint(current.last.centerV3, newCell.centerV3), connection.Cost(properties, ignoreCrouchCost), DebugGroup.path);
}
#endif
newPath.g = current.g + connection.Cost(properties, ignoreCrouchCost);
if (connection is CellContentPointedConnection)
{
newPath.h = EuclideanDistance((connection as CellContentPointedConnection).exitPoint);
//Debuger3.AddLabel((connection as CellPointedConnection).exitPoint, newPath.h);
}
else
{
newPath.h = EuclideanDistance(connection.connection);
}
AddCellNode(newPath);
}
}
}
}
//just use Dijkstra to find nearest cover
private List <NodeCoverPoint> SearchCover()
{
List <NodeCoverPoint> result = new List <NodeCoverPoint>();
CellPath path = new CellPath(startCell, start_v3);
if (startCell.covers != null)
{
result.AddRange(startCell.covers);
}
excluded.Add(startCell);
foreach (var connection in startCell.connections)
{
CellPath newPath = new CellPath(path, connection);
newPath.g = connection.Cost(start_v3, properties, ignoreCrouchCost);
AddCellNode(newPath);
}
while (true)
{
CellPath current = TakeCellNode();
if (current == null || current.g > maxMoveCost)
{
break;
}
Cell currentCell = current.last;
if (excluded.Contains(currentCell))
{
continue;
}
else
{
excluded.Add(currentCell);
}
#if UNITY_EDITOR
if (Debuger_K.debugPath)
{
Debuger_K.AddPath(current.path[current.path.Count - 2].centerV3, current.path[current.path.Count - 1].centerV3, Color.green);
}
#endif
if (currentCell.covers != null)
{
result.AddRange(currentCell.covers);
}
foreach (var connection in currentCell.connections)
{
Cell newCell = connection.connection;
if (current.Contains(newCell) == false)
{
CellPath newPath = new CellPath(current, connection);
newPath.g = current.g + connection.Cost(properties, ignoreCrouchCost);
AddCellNode(newPath);
}
}
}
return(result);
}
