public IList <Vector2Int> GetPath(ICellMap map, Vector2Int start, Vector2Int stop, NeighbourMode neighbourMode)
{
if (!_isInitialized)
{
Initialize(map);
}
CellCluster startContainer = HierarchicalMapGenerator.GetContainingCluster(HierarchicalGraph.ZeroLevelClusters, ClusterSizeZero, ClusterSizeZero, start);
CellCluster stopContainer = HierarchicalMapGenerator.GetContainingCluster(HierarchicalGraph.ZeroLevelClusters, ClusterSizeZero, ClusterSizeZero, stop);
HierarchicalGraphNode startNode = new HierarchicalGraphNode();
startNode.Position = start;
startContainer.ConnectNode(startNode, neighbourMode);
startNode.ParentCluster = startContainer;
HierarchicalGraphNode stopNode = new HierarchicalGraphNode();
stopNode.Position = stop;
stopContainer.ConnectNode(stopNode, neighbourMode);
stopNode.ParentCluster = stopContainer;
AStarAlgorithm aStarAlgorithm = new AStarAlgorithm();
_currentCellCluster = null;
aStarAlgorithm.OnCellViewedEvent += OnAStarCellViewed;
IList <IGraphNode> abstractPath = aStarAlgorithm.GetPath(null, startNode, stopNode);
List <Vector2Int> path = null;
if (abstractPath != null)
{
path = new List <Vector2Int>();
for (var i = 0; i < abstractPath.Count - 1; i++)
{
HierarchicalGraphNode nodeA = (HierarchicalGraphNode)abstractPath[i];
HierarchicalGraphNode nodeB = (HierarchicalGraphNode)abstractPath[i + 1];
if (nodeA.ParentCluster == nodeB.ParentCluster)
{
CoordinateTransformer transformer =
new CoordinateTransformer(nodeA.ParentCluster, nodeA.ParentCluster.LeftBottom);
_currentCellCluster = nodeA.ParentCluster;
Vector2Int clusterStart = nodeA.Position - transformer.Transform;
Vector2Int clusterStop = nodeB.Position - transformer.Transform;
IList <Vector2Int> realPath = aStarAlgorithm.GetPathSingleLayer(transformer, clusterStart, clusterStop, neighbourMode);
if (realPath == null)
{
var bitmap = CellMapToBitmap.GetBitmap(nodeA.ParentCluster, 16, clusterStart, clusterStop, null);
LogManager.Log($"Path in cluster not found. Start: {clusterStart}; Stop: {clusterStop}. Bitmap printed");
LogManager.Log(bitmap);
throw new InvalidOperationException();
}
TransformPath(realPath, transformer.Transform);
realPath = Utils.GetInvertedList(realPath);
path.AddRange(realPath);
}
}
}
DestroyConnections(startNode);
DestroyConnections(stopNode);
DestroyData(HierarchicalGraph.ZeroLevelClusters);
return(path);
}
