public override void Enter()
{
var pathFinder = new AStarFinder(Heuristic.Manhattan, npc.IsWalkable);
pathFinder.FindPathAsync(npc.CurrentPosition, npc.HomePosition).ContinueWith(t =>
{
var path = t.Result;
if (path == null)
{
WriteLog("Path not found! (" + npc.CurrentPosition + " => " + npc.HomePosition + ")");
var f = new AStarFinder(Heuristic.Manhattan, (x, y) => true);
path = f.FindPath(npc.CurrentPosition, npc.HomePosition);
if (path == null)
{
WriteLog("Safe path not found! (" + npc.CurrentPosition + " => " + npc.HomePosition + ")");
}
}
_movement = new PathMovement(path);
_movement.Start(npc);
});
base.Enter();
}
//function that determines which loads are valid to keep and which are not
private void KeepValidLoads(GridPos EndPoint)
{
int list_index = 0;
bool removed;
for (int i = 0; i < loadPos.Count; i++)
{
searchGrid.SetWalkableAt(loadPos[i], true); //assumes that all loads are walkable
}
//and only walls are in fact the only obstacles in the grid
do
{
removed = false;
jumpParam.Reset(loadPos[list_index], EndPoint); //tries to find path between each Load and the exit
if (AStarFinder.FindPath(jumpParam, nud_weight.Value).Count == 0) //if no path is found
{
isLoad[loadPos[list_index].x, loadPos[list_index].y] = 2; //mark the corresponding load as NOT available
loadPos.RemoveAt(list_index); //remove that load from the list
removed = true;
}
if (!removed)
{
list_index++;
}
} while (list_index < loadPos.Count); //loop repeats untill all loads are checked
if (loadPos.Count == 0)
{
mapHasLoads = false;
}
}
