public void CreateAstarPath(AStarAgent agent, TSVector start, TSVector target, GridMap map, int curPosIdx)
{
if (agent._asm == null)
{
AStarMachine.AStarMachine asm = _pathPool.New();
GridAStarGoal goal = _goalPool.New();
goal.Ini(agent);
GridAStarStorage storage = _storagePool.New();
storage.Ini();
asm.Ini(agent, goal, storage, map);
agent._asm = asm;
StartFindingPath(asm, start, target, false, curPosIdx);
}
}
/// <summary>
/// three step:first step,find fast path,maybe not a valid path navigating to target position
/// </summary>
/// <param name="agent"></param>
/// <param name="start"></param>
/// <param name="target"></param>
/// <param name="mapId"></param>
/// <param name="isTried">is tried to find quick path and finished </param>
/// <returns></returns>
public EPathReturnStatus FindQuickPath(AgentBase agent, int revs, TSVector start, TSVector target, GridMap map, bool isTried)//, List<TSVector> vecPath
{
//GridMap map = GridMapManager.instance.GetMap(mapId);
if (map.GetGridNodeId(start) == map.GetGridNodeId(target))
{
return(EPathReturnStatus.ok);
}
AStarAgent aAgent = ((AStarAgent)agent);
AStarMachine.AStarMachine asm = isTried?null: aAgent._asm;
bool bInqueue = asm != null && asm.IsWorking;
if (asm == null)
{
asm = _pathPool.New();
GridAStarGoal goal = _goalPool.New();
goal.Ini(agent);
GridAStarStorage storage = _storagePool.New();
storage.Ini();
asm.Ini(agent, goal, storage, map);
}
int curIdx = map.GetGridNodeId(aAgent._behaviour.position);
StartFindingPath(asm, start, target, true, curIdx);
if (asm.IsWorking)
{
int startIdx = map.GetGridNodeId(start);
int tIdx = map.GetGridNodeId(target);
IInt2 pos = map.GetGridPos(tIdx);
bool isReachable = map.IsExistingNeighbourWalkable(pos.x, pos.y, startIdx, tIdx, curIdx);
if (!isTried && isReachable)
{
ProcessFinishedPath(asm, EPathType.quickPath, false);//quick path is valid
}
if (!isReachable)
{
aAgent._behaviour.AddUnReachablePos(map, tIdx);
}
if (!isTried && isReachable)//target possible reachable
{
int sIdx = map.GetGridNodeId(aAgent._vecRunningPath[0]);
asm.StartSearch(sIdx, tIdx, false, start, _pathId++, startIdx);//
//if (!bInqueue)
//{
// _pathQueue.Enqueue(asm);//find full path
//}
aAgent._asm = asm;
}
else//can't reach target
{
asm.IsWorking = false;
// asm.Reset();
ClearFinishedPath(asm);
if (!isTried)
{
return(EPathReturnStatus.fail);
#if UNITY_EDITOR && !MULTI_THREAD
if (PathFindingManager.DEBUG)
{
UnityEngine.Debug.LogWarning("can't reach target:" + pos.x + "," + pos.y);
}
#endif
}
else
{
return(EPathReturnStatus.fail);
}
}
// asm._start=
}
else
{
if (isTried)//remove working asm
{
if (aAgent._asm != null)
{
aAgent._asm.IsWorking = false;
ClearFinishedPath(aAgent._asm);
}
aAgent._asm = asm;
}
ProcessFinishedPath(asm, EPathType.quickPath);//quick path is valid
}
if (aAgent._vecRunningPath.Count > 0)
{
return(EPathReturnStatus.ok);
}
return(EPathReturnStatus.fail);//warning
}