public PathRequest(DispensaryGrid _grid, Vector3 _start, Vector3 _end, Func <Vector3[], bool, Vector3[]> _callback)
{
grid = _grid;
pathStart = _start;
pathEnd = _end;
callback = _callback;
}
public static void RequestPath(DispensaryGrid grid, Vector3 pathStart, Vector3 pathEnd, Func <Vector3[], bool, Vector3[]> callback)
{
PathRequest newRequest = new PathRequest(grid, pathStart, pathEnd, callback);
instance.pathRequestQueue.Enqueue(newRequest);
instance.TryProcessNext();
}
public void GetClosest(DispensaryGrid grid, Vector3 startPos, ComponentNode originalTargetNode, List <ComponentNode> closed)
{
float currentDist = 1000;
ComponentNode currentClosestNode = new ComponentNode();
foreach (ComponentNode node in closed)
{
if (node.walkable)
{
float newdist = Vector3.Distance(node.worldPosition, originalTargetNode.worldPosition);
if (newdist < currentDist)
{
currentDist = newdist;
currentClosestNode = node;
}
}
}
if (!currentClosestNode.isNull)
{
if (grid != null)
{
StartFindPath(grid, startPos, currentClosestNode.worldPosition);
}
else
{
print("Grid was null");
}
}
}
IEnumerator FindPath(DispensaryGrid grid, Vector3 startPos, Vector3 targetPos)
{
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
ComponentNode startNode = grid.NodeFromWorldPoint(startPos);
ComponentNode targetNode = grid.NodeFromWorldPoint(targetPos);
List <ComponentNode> closedList = new List <ComponentNode>();
HashSet <ComponentNode> closedSet = new HashSet <ComponentNode>();
if (true)
{
Heap <ComponentNode> openSet = new Heap <ComponentNode>(grid.MaxSize);
openSet.Add(startNode);
while (openSet.Count > 0)
{
ComponentNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
closedList.Add(currentNode);
if (currentNode == targetNode)
{
pathSuccess = true;
break;
}
foreach (ComponentNode neighbour in grid.GetNeighbours(currentNode))
{
int extraMovementPenalty = 0;
foreach (ComponentNode neighbour_ in grid.GetNeighbours(neighbour))
{
if (!neighbour_.walkable)
{
extraMovementPenalty = 15;
}
}
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + extraMovementPenalty;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (neighbour.hCost < lowestHValue)
{
lowestHNode = neighbour;
lowestHValue = neighbour.hCost;
}
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
else
{
if (lowestHNode != null)
{
if (grid != null)
{
StartFindPath(grid, startPos, lowestHNode.worldPosition);
}
else
{
print("Grid was null");
}
yield break;
}
else
{
GetClosest(grid, startPos, targetNode, closedList);
yield break;
}
}
requestManager.FinishedProcessingPath(waypoints, targetPos, pathSuccess);
}
public void StartFindPath(DispensaryGrid grid, Vector3 startPos, Vector3 targetPos)
{
lowestHNode = null;
lowestHValue = 1000;
StartCoroutine(FindPath(grid, startPos, targetPos));
}
