public override NavTilePath FindPath(FindPathInput inInput)
{
NavNodeHeap openSet = new NavNodeHeap();
HashSet <Vector2Int> closedSet = new HashSet <Vector2Int>();
PathfindingNode startNode = GetNode(inInput.StartCoordinate);
openSet.Add(startNode);
while (openSet.Count > 0)
{
PathfindingNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode.Coordinate);
if (currentNode.Coordinate == inInput.TargetCoordinate)
{
// Path found.
List <Vector2Int> pathInCoordinates = RetracePath(startNode, currentNode);
#if UNITY_EDITOR
NavTilePathVisualizer.SetDebugVisualization(inInput.Visualizer, closedSet.ToList(), openSet.GetCoordinateList(), pathInCoordinates);
#endif
return(ConvertCoordinatesToPath(pathInCoordinates, inInput.AreaMask));
}
IdentifySuccessors(currentNode, openSet, closedSet, inInput);
}
// No path found
return(null);
}
/// <summary>
/// Interface method to find a path using the JPS+ algorithm.
/// </summary>
/// <param name="inInput">Path input parameters to be used when finding a path.</param>
/// <returns>A NavTilePath instance consisting of a list of nodes that represent a path.</returns>
public override NavTilePath FindPath(FindPathInput inInput)
{
openSet = new NavNodeHeap();
closedSet = new HashSet <Vector2Int>();
// Create the first node to start the pathfinding.
PathfindingNode startNode = GetNode(inInput.StartCoordinate);
Vector2Int targetPosition = inInput.TargetCoordinate;
// The startnode is a special case, so check all directions.
for (int i = 0; i <= 3; i++)
{
JumpPointDirection direction = (JumpPointDirection)(1 << i);
SearchInDirection(direction, startNode, inInput);
}
// Main loop. While there are still nodes which can be checked, continue checking them.
while (openSet.Count > 0)
{
// Grab the node with the lowest cost of the heap and add it to the closedset.
PathfindingNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode.Coordinate);
// Check whether the node is the targetnode, which means the pathfinding can be stopped.
if (currentNode.Coordinate == targetPosition)
{
// Path found
List <Vector2Int> pathInCoordinates = RetracePath(startNode, currentNode);
#if UNITY_EDITOR
NavTilePathVisualizer.SetDebugVisualization(inInput.Visualizer, closedSet.ToList(), openSet.GetCoordinateList(), pathInCoordinates);
#endif
return(ConvertCoordinatesToPath(pathInCoordinates, inInput.AreaMask));
}
// Get the direction of how this node was reached.
JumpPointDirection parentDirection = (currentNode.AdditionalTileData as AdditionalJPSPlusData).ParentDirection;
// Find the perpendicular directions based on the parent direction.
JumpPointDirection firstPerpendicularDirection;
JumpPointDirection secondPerpendicularDirection;
GetPerpendicularDirections(parentDirection, out firstPerpendicularDirection, out secondPerpendicularDirection);
// Search in all three directions for relevant nodes.
SearchInDirection(parentDirection, currentNode, inInput);
SearchInDirection(firstPerpendicularDirection, currentNode, inInput);
SearchInDirection(secondPerpendicularDirection, currentNode, inInput);
}
Debug.Log("No path found from " + inInput.StartCoordinate + " to " + inInput.TargetCoordinate);
return(null);
}
/// <summary>
/// Returns a path through the pipeline.
/// </summary>
/// <param name="inInput">Input parameters for the path.</param>
public async Task <NavTilePath> GetPath(FindPathInput inInput)
{
if (MultiThreadingEnabled)
{
if (_pipelineMultiThreaded == null)
{
CreatePipeline();
}
return(await _pipelineMultiThreaded.Execute(inInput));
}
else
{
return(DoLinearPipeline(inInput));
}
}
/// <summary>
/// Executes the pipeline on the Unity main thread.
/// </summary>
/// <param name="inInput">Input parameters for the path.</param>
private NavTilePath DoLinearPipeline(FindPathInput inInput)
{
if (_algorithm == null)
{
Type algorithm = Type.GetType(AlgorithmType);
_algorithm = Activator.CreateInstance(algorithm) as IPathfindingAlgorithm;
}
NavTilePath path = _algorithm.FindPath(inInput);
foreach (var smoothingAlgorithm in EnabledSmoothingAlgorithms)
{
var instance = Activator.CreateInstance(Type.GetType(smoothingAlgorithm)) as INavTilePathModifier;
path = instance.ModifyPath(path);
}
return(path);
}
public abstract NavTilePath FindPath(FindPathInput inInput);
/// <summary>
/// Search nodes in a particular direction.
/// </summary>
private void SearchInDirection(JumpPointDirection inDirection, PathfindingNode inNode, FindPathInput inInput)
{
Vector2Int coordinate = inNode.Coordinate;
Vector2Int goalPos = inInput.TargetCoordinate;
// Get the jump distance and the absolute value of the jump distance.
int jumpDistance = (inNode.AdditionalTileData as AdditionalJPSPlusData).GetJumpDistance(inDirection);
int absJumpDistance = Mathf.Abs(jumpDistance);
// Check whether the target node is in line with the current node.
int diff;
if (InLineWithTargetPosition(coordinate, goalPos, absJumpDistance, inDirection, out diff))
{
// Calculate cost of next node and add to open list.
int cost = inNode.GCost + GetAdditionalCost(diff);
Vector2Int nextNodeCoordinate = Vector2Int.zero;
switch (inDirection)
{
case JumpPointDirection.North:
case JumpPointDirection.South:
nextNodeCoordinate = new Vector2Int(coordinate.x, goalPos.y);
break;
case JumpPointDirection.East:
case JumpPointDirection.West:
nextNodeCoordinate = new Vector2Int(goalPos.x, coordinate.y);
break;
}
AddToOpenList(nextNodeCoordinate, inNode, JumpPointDirection.North, cost, inInput);
return;
}
// Otherwise, check if the jump distance is positive to jump to a jump point.
if (jumpDistance > 0)
{
int cost = inNode.GCost + GetAdditionalCost(diff);
AddToOpenList(GetNextPosition(coordinate, absJumpDistance, inDirection), inNode, inDirection, cost, inInput);
}
}
/// <summary>
/// Adds the given coordinate to the open list, or updates a node already on there with new information if necessary.
/// </summary>
/// <param name="inNewCoordinate">The coordinate being put on the open list.</param>
/// <param name="inCurrentNode">The node the new coordinate led from.</param>
/// <param name="inDirection">Direction being looked at.</param>
/// <param name="inCost">Cost of the new node.</param>
/// <param name="inInput">Input parameters for finding a path.</param>
private void AddToOpenList(Vector2Int inNewCoordinate, PathfindingNode inCurrentNode, JumpPointDirection inDirection, int inCost, FindPathInput inInput)
{
PathfindingNode node;
if ((node = openSet.GetExistingNode(inNewCoordinate)) != null)
{
node.ParentNode = inCurrentNode;
(node.AdditionalTileData as AdditionalJPSPlusData).ParentDirection = inDirection;
node.GCost = inCost;
openSet.UpdateItem(node);
}
else if (!closedSet.Contains(inNewCoordinate))
{
int heuristicCost = GetManhattanDistance(inNewCoordinate, inInput.TargetCoordinate);
node = GetNode(inNewCoordinate);
node.ParentNode = inCurrentNode;
(node.AdditionalTileData as AdditionalJPSPlusData).ParentDirection = inDirection;
node.GCost = inCost;
node.HCost = heuristicCost;
openSet.Add(node);
}
}
private Vector2Int?Jump(Vector2Int inNeighbourCoordinate, Vector2Int inParentCoordinate, FindPathInput inInput)
{
if (!IsTileWalkable(inNeighbourCoordinate, inInput.AreaMask))
{
return(null);
}
if (inNeighbourCoordinate == inInput.TargetCoordinate)
{
return(inNeighbourCoordinate);
}
if (NavTileManager.Instance.SurfaceManager.GridInfo.CellLayout == GridLayout.CellLayout.Hexagon)
{
// Identify forced neighbours.
Direction movingDirection = HexagonGridHelper.GetDirection(inParentCoordinate, inNeighbourCoordinate);
Vector2Int aboveFarCoord = HexagonGridHelper.GetNeighbourInDirection(inNeighbourCoordinate, HexagonGridHelper.GetRelativeDirection(movingDirection, 2));
Vector2Int aboveCloseCoord = HexagonGridHelper.GetNeighbourInDirection(inNeighbourCoordinate, HexagonGridHelper.GetRelativeDirection(movingDirection, 1));
if (!IsTileWalkable(aboveFarCoord, inInput.AreaMask) && IsTileWalkable(aboveCloseCoord, inInput.AreaMask))
{
return(inNeighbourCoordinate);
}
Vector2Int belowFarCoord = HexagonGridHelper.GetNeighbourInDirection(inNeighbourCoordinate, HexagonGridHelper.GetRelativeDirection(movingDirection, -2));
Vector2Int belowCloseCoord = HexagonGridHelper.GetNeighbourInDirection(inNeighbourCoordinate, HexagonGridHelper.GetRelativeDirection(movingDirection, -1));
if (!IsTileWalkable(belowFarCoord, inInput.AreaMask) && IsTileWalkable(belowCloseCoord, inInput.AreaMask))
{
return(inNeighbourCoordinate);
}
// No forced neighbours, jump further.
if ((int)movingDirection % 2 == 0)
{
// Even directions have to check adjacent directions.
if (Jump(aboveCloseCoord, inNeighbourCoordinate, inInput) != null ||
Jump(belowCloseCoord, inNeighbourCoordinate, inInput) != null)
{
return(inNeighbourCoordinate);
}
}
return(Jump(HexagonGridHelper.GetNeighbourInDirection(inNeighbourCoordinate, movingDirection), inNeighbourCoordinate, inInput));
}
Vector2Int horizontalDelta = new Vector2Int(inNeighbourCoordinate.x - inParentCoordinate.x, 0);
Vector2Int verticalDelta = new Vector2Int(0, inNeighbourCoordinate.y - inParentCoordinate.y);
if (inInput.DiagonalAllowed && horizontalDelta.x != 0 && verticalDelta.y != 0)
{
// Diagonal movement.
if (inInput.CutCorners)
{
if (!IsTileWalkable(inNeighbourCoordinate - horizontalDelta, inInput.AreaMask) && IsTileWalkable(inNeighbourCoordinate - horizontalDelta + verticalDelta, inInput.AreaMask) ||
!IsTileWalkable(inNeighbourCoordinate - verticalDelta, inInput.AreaMask) && IsTileWalkable(inNeighbourCoordinate + horizontalDelta - verticalDelta, inInput.AreaMask))
{
return(inNeighbourCoordinate);
}
}
// Straight jumps.
if (Jump(inNeighbourCoordinate + horizontalDelta, inNeighbourCoordinate, inInput) != null ||
Jump(inNeighbourCoordinate + verticalDelta, inNeighbourCoordinate, inInput) != null)
{
return(inNeighbourCoordinate);
}
}
else
{
// Straight movement.
if (horizontalDelta.x != 0 && CheckStraightJumpMovement(inNeighbourCoordinate, horizontalDelta, inInput))
{
return(inNeighbourCoordinate);
}
else if (verticalDelta.y != 0)
{
if (CheckStraightJumpMovement(inNeighbourCoordinate, verticalDelta, inInput))
{
return(inNeighbourCoordinate);
}
if (!inInput.DiagonalAllowed)
{
// Jump horizontally when moving vertically during non-diagonal search.
if (Jump(inNeighbourCoordinate + Vector2Int.right, inNeighbourCoordinate, inInput) != null ||
Jump(inNeighbourCoordinate + Vector2Int.left, inNeighbourCoordinate, inInput) != null)
{
return(inNeighbourCoordinate);
}
}
}
}
if (inInput.DiagonalAllowed && inInput.CutCorners)
{
if (IsTileWalkable(inNeighbourCoordinate + horizontalDelta, inInput.AreaMask) && IsTileWalkable(inNeighbourCoordinate + verticalDelta, inInput.AreaMask))
{
return(Jump(inNeighbourCoordinate + horizontalDelta + verticalDelta, inNeighbourCoordinate, inInput));
}
else
{
return(null);
}
}
else
{
return(Jump(inNeighbourCoordinate + horizontalDelta + verticalDelta, inNeighbourCoordinate, inInput));
}
}
private void IdentifySuccessors(PathfindingNode inNode, NavNodeHeap inOpenSet, HashSet <Vector2Int> inClosedSet, FindPathInput inInput)
{
List <Vector2Int> neighbours = FindNeighbours(inNode, inInput);
foreach (Vector2Int neighbourCoord in neighbours)
{
Vector2Int?jumpCoordinateNullable = Jump(neighbourCoord, inNode.Coordinate, inInput);
if (jumpCoordinateNullable == null || inClosedSet.Contains(jumpCoordinateNullable.GetValueOrDefault()))
{
continue;
}
PathfindingNode examinedNode = inOpenSet.GetExistingNode(jumpCoordinateNullable.Value) ?? new PathfindingNode(jumpCoordinateNullable.Value);
int newMovementCost = inNode.GCost + (inInput.DiagonalAllowed ? GetDiagonalDistance(examinedNode.Coordinate, inNode.Coordinate) :
GetManhattanDistance(examinedNode.Coordinate, inNode.Coordinate));
if (examinedNode.GCost == 0 || newMovementCost < examinedNode.GCost)
{
examinedNode.GCost = newMovementCost;
examinedNode.HCost = GetHeuristicCost(examinedNode.Coordinate, inInput.TargetCoordinate, inInput.DiagonalAllowed);
examinedNode.ParentNode = inNode;
if (inOpenSet.Contains(examinedNode))
{
inOpenSet.UpdateItem(examinedNode);
}
else
{
inOpenSet.Add(examinedNode);
}
}
}
}
private void AddStraightNeighbours(List <Vector2Int> inNeighbours, PathfindingNode inNode, Vector2Int inDelta, FindPathInput inInput)
{
Vector2Int swizzledDelta = new Vector2Int(inDelta.y, inDelta.x);
bool nextWalkable = IsTileWalkable(inNode.Coordinate + inDelta, inInput.AreaMask);
bool topWalkable = IsTileWalkable(inNode.Coordinate + swizzledDelta, inInput.AreaMask);
bool bottomWalkable = IsTileWalkable(inNode.Coordinate - swizzledDelta, inInput.AreaMask);
if (inInput.DiagonalAllowed && inInput.CutCorners)
{
if (nextWalkable)
{
inNeighbours.Add(inNode.Coordinate + inDelta);
}
if (!topWalkable)
{
inNeighbours.Add(inNode.Coordinate + inDelta + swizzledDelta);
}
if (!bottomWalkable)
{
inNeighbours.Add(inNode.Coordinate + inDelta - swizzledDelta);
}
}
else
{
if (nextWalkable)
{
inNeighbours.Add(inNode.Coordinate + inDelta);
if (inInput.DiagonalAllowed)
{
if (topWalkable)
{
inNeighbours.Add(inNode.Coordinate + inDelta + swizzledDelta);
}
if (bottomWalkable)
{
inNeighbours.Add(inNode.Coordinate + inDelta - swizzledDelta);
}
}
}
if (topWalkable)
{
inNeighbours.Add(inNode.Coordinate + swizzledDelta);
}
if (bottomWalkable)
{
inNeighbours.Add(inNode.Coordinate - swizzledDelta);
}
}
}
private void AddHexagonalNeighbours(List <Vector2Int> inNeighbours, Vector2Int inCurrentCoord, Vector2Int inParentCoord, FindPathInput inInput)
{
Direction movingDirection = HexagonGridHelper.GetDirection(inParentCoord, inCurrentCoord);
Vector2Int nextCoord = HexagonGridHelper.GetNeighbourInDirection(inCurrentCoord, movingDirection);
if (IsTileWalkable(nextCoord, inInput.AreaMask))
{
inNeighbours.Add(nextCoord);
}
Vector2Int aboveCoord = HexagonGridHelper.GetNeighbourInDirection(inCurrentCoord, HexagonGridHelper.GetRelativeDirection(movingDirection, 1));
if (IsTileWalkable(aboveCoord, inInput.AreaMask))
{
inNeighbours.Add(aboveCoord);
}
Vector2Int belowCoord = HexagonGridHelper.GetNeighbourInDirection(inCurrentCoord, HexagonGridHelper.GetRelativeDirection(movingDirection, -1));
if (IsTileWalkable(belowCoord, inInput.AreaMask))
{
inNeighbours.Add(belowCoord);
}
}
private List <Vector2Int> FindNeighbours(PathfindingNode inNode, FindPathInput inInput)
{
List <Vector2Int> neighbours = new List <Vector2Int>();
PathfindingNode parentNode = inNode.ParentNode;
if (parentNode != null)
{
if (NavTileManager.Instance.SurfaceManager.GridInfo.CellLayout == GridLayout.CellLayout.Hexagon)
{
AddHexagonalNeighbours(neighbours, inNode.Coordinate, parentNode.Coordinate, inInput);
return(neighbours);
}
Vector2Int difference = inNode.Coordinate - parentNode.Coordinate;
Vector2Int horizontalDelta = new Vector2Int(difference.x / Mathf.Max(Mathf.Abs(difference.x), 1), 0);
Vector2Int verticalDelta = new Vector2Int(0, difference.y / Mathf.Max(Mathf.Abs(difference.y), 1));
if (inInput.DiagonalAllowed && horizontalDelta.x != 0 && verticalDelta.y != 0)
{
// Diagonal movement.
if (IsTileWalkable(inNode.Coordinate + verticalDelta, inInput.AreaMask))
{
neighbours.Add(inNode.Coordinate + verticalDelta);
}
if (IsTileWalkable(inNode.Coordinate + horizontalDelta, inInput.AreaMask))
{
neighbours.Add(inNode.Coordinate + horizontalDelta);
}
if (inInput.CutCorners)
{
if (IsTileWalkable(inNode.Coordinate + verticalDelta + horizontalDelta, inInput.AreaMask))
{
neighbours.Add(inNode.Coordinate + verticalDelta + horizontalDelta);
}
if (!IsTileWalkable(inNode.Coordinate - horizontalDelta, inInput.AreaMask))
{
neighbours.Add(inNode.Coordinate - horizontalDelta + verticalDelta);
}
if (!IsTileWalkable(inNode.Coordinate - verticalDelta, inInput.AreaMask))
{
neighbours.Add(inNode.Coordinate + horizontalDelta - verticalDelta);
}
}
else
{
if (IsTileWalkable(inNode.Coordinate + verticalDelta, inInput.AreaMask) &&
IsTileWalkable(inNode.Coordinate + horizontalDelta, inInput.AreaMask))
{
neighbours.Add(inNode.Coordinate + verticalDelta + horizontalDelta);
}
}
}
else
{
// Straight movement.
if (horizontalDelta.x != 0)
{
AddStraightNeighbours(neighbours, inNode, horizontalDelta, inInput);
}
else
{
AddStraightNeighbours(neighbours, inNode, verticalDelta, inInput);
}
}
}
else
{
// This is the starting node, get all neighbours.
neighbours = GetWalkableNeighbours(inNode, inInput.AreaMask, inInput.DiagonalAllowed, inInput.CutCorners);
}
return(neighbours);
}
private bool CheckStraightJumpMovement(Vector2Int inNeighbourCoordinate, Vector2Int inDelta, FindPathInput inInput)
{
Vector2Int swizzledDelta = new Vector2Int(inDelta.y, inDelta.x);
if (inInput.DiagonalAllowed && inInput.CutCorners)
{
return(!IsTileWalkable(inNeighbourCoordinate + swizzledDelta, inInput.AreaMask) && IsTileWalkable(inNeighbourCoordinate + inDelta + swizzledDelta, inInput.AreaMask) ||
!IsTileWalkable(inNeighbourCoordinate - swizzledDelta, inInput.AreaMask) && IsTileWalkable(inNeighbourCoordinate + inDelta - swizzledDelta, inInput.AreaMask));
}
return(!IsTileWalkable(inNeighbourCoordinate + swizzledDelta - inDelta, inInput.AreaMask) && IsTileWalkable(inNeighbourCoordinate + swizzledDelta, inInput.AreaMask) ||
!IsTileWalkable(inNeighbourCoordinate - swizzledDelta - inDelta, inInput.AreaMask) && IsTileWalkable(inNeighbourCoordinate - swizzledDelta, inInput.AreaMask));
}
/// <summary>
/// Calculate a path using the A* algorithm and the specified input.
/// </summary>
/// <param name="inInput">Input used to calculate path with.</param>
public override NavTilePath FindPath(FindPathInput inInput)
{
NavNodeHeap openSet = new NavNodeHeap();
HashSet <Vector2Int> closedSet = new HashSet <Vector2Int>();
PathfindingNode startNode = GetNode(inInput.StartCoordinate);
openSet.Add(startNode);
Vector2Int targetPosition = inInput.TargetCoordinate;
while (openSet.Count > 0)
{
PathfindingNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode.Coordinate);
if (currentNode.Coordinate == targetPosition)
{
// Path found.
List <Vector2Int> pathInCoordinates = RetracePath(startNode, currentNode);
#if UNITY_EDITOR
NavTilePathVisualizer.SetDebugVisualization(inInput.Visualizer, closedSet.ToList(), openSet.GetCoordinateList(), pathInCoordinates);
#endif
return(ConvertCoordinatesToPath(pathInCoordinates, inInput.AreaMask));
}
foreach (Vector2Int neighbourCoordinate in GetWalkableNeighbours(currentNode, inInput.AreaMask, inInput.DiagonalAllowed, inInput.CutCorners))
{
if (inInput.PositionsToAvoid.Contains(neighbourCoordinate))
{
continue;
}
if (closedSet.Contains(neighbourCoordinate))
{
continue;
}
// Get node from the open set if it exists, otherwise, create one.
PathfindingNode neighbourNode = openSet.GetExistingNode(neighbourCoordinate) ?? GetNode(neighbourCoordinate);
int movementPenalty = inInput.IgnoreTileCost ? 0 : neighbourNode.TileCost;
int newMovementCostToNeighbour = currentNode.GCost + GetAdjacentCost(neighbourCoordinate - currentNode.Coordinate) + movementPenalty;
if (neighbourNode.GCost == 0 || newMovementCostToNeighbour < neighbourNode.GCost)
{
neighbourNode.GCost = newMovementCostToNeighbour;
neighbourNode.HCost = GetHeuristicCost(neighbourCoordinate, inInput.TargetCoordinate, inInput.DiagonalAllowed);
neighbourNode.ParentNode = currentNode;
if (openSet.Contains(neighbourNode))
{
openSet.UpdateItem(neighbourNode);
}
else
{
openSet.Add(neighbourNode);
}
}
}
}
// Path not found.
return(null);
}
/// <summary>
/// Moves the agent to a tile position
/// </summary>
/// <param name="inTargetPosition">The position to move to as a tile position.</param>
public async void MoveToPosition(Vector2Int inTargetPosition, params Vector2Int[] inAvoidTiles)
{
// Check for early exits or possible errors first
if (NavTileManager.Instance.SurfaceManager.Grid == null)
{
Debug.LogWarning("There is no (or multiple) grid object(s) found in the scene. Path can't be calculated without one.");
OnPathNotFoundUnityEvent.Invoke();
return;
}
if (!NavTileManager.Instance.SurfaceManager.IsDataInitialized || NavTileManager.Instance.SurfaceManager.Data.HasNoTiles)
{
Debug.LogWarning("Data is not initialized for this scene. Please bake in the navigation 2D window.");
OnPathNotFoundUnityEvent.Invoke();
return;
}
Vector2Int startCoordinate = NavTileManager.Instance.SurfaceManager.Grid.WorldToCell(this.transform.position).GetVector2Int();
if (startCoordinate == inTargetPosition)
{
Debug.LogWarning("Trying to find a path to the start node. Calculating a path is redundant.");
OnPathNotFoundUnityEvent.Invoke();
return;
}
if (NavTileManager.Instance.SurfaceManager.Data.GetTileData(inTargetPosition) == null)
{
Debug.LogWarning(string.Format("Coordinate {0} is not a tile on the grid, can't calculate path.", inTargetPosition));
OnPathNotFoundUnityEvent.Invoke();
return;
}
// Start calculating a path.
_pathStatus = EPathStatus.Calculating;
// Intialize parameters to find a path.
FindPathInput input = new FindPathInput(startCoordinate, inTargetPosition, _areaMask, this._diagonalAllowed, this._cutCorners, this._ignoreTileCost, inAvoidTiles);
#if UNITY_EDITOR
input.Visualizer = visualizer;
#endif
// Get a path based on the input and the Pipeline Settings in the Navigation2D window.
_path = await NavTileManager.Instance.GetPath(input);
// If no path is found, return.
if (_path == null || _path.Count == 0)
{
Debug.LogWarning("Path could not be found.", gameObject);
_pathStatus = EPathStatus.NotAvailable;
OnPathNotFoundUnityEvent.Invoke();
return;
}
OnPathFound();
}
/// <summary>
/// Calculates a path through the pipeline using the specified input.
/// It's an async operation since it can be done multithreaded if specified in the Pipeline tab.
/// </summary>
/// <param name="inInput">Data holder for all path find variables.</param>
/// <returns>A task with a NavTilePath as output when the calculation is finished.</returns>
public async Task <NavTilePath> GetPath(FindPathInput inInput)
{
return(await PipelineManager.GetPath(inInput));
}