public NodePath FindPath(IPathfindNodeNetwork <AstarNode> nodeNetwork, IPathRequest pathRequest, out bool succes)
{
var pathfindingNetwork = nodeNetwork.GetCollisionLayerNetwork(pathRequest.CollisionCategory);
var startNode = NodePointer.Dereference(pathRequest.PathStart.Index, pathfindingNetwork);
var endNode = NodePointer.Dereference(pathRequest.PathEnd.Index, pathfindingNetwork);
var path = FindPath(pathfindingNetwork, startNode, endNode, pathRequest.AgentSize, pathRequest.CollisionCategory);
if (path == null)
{
succes = false;
return(new NodePath(new[] { startNode.DefinitionNode }, nodeNetwork.DefinitionNodeNetwork.Transformer));
}
succes = true;
switch (nodeNetwork.DefinitionNodeNetwork)
{
case IDefinitionNodeGrid definitionNodeGrid:
var offset = GridClearanceHelper.GridNodeOffset(pathRequest.AgentSize, definitionNodeGrid.Transformer.Scale);
return(new NodePath(path.ToArray(), definitionNodeGrid.Transformer));
case IDefinitionNodeNetwork definitionNodeNetwork:
return(new NodePath(path.ToArray(), definitionNodeNetwork.Transformer));
default:
throw new NotSupportedException($"{nodeNetwork.DefinitionNodeNetwork.GetType()} is not supported");
}
}
public PathRequest <PotentialField> CreatePathRequest(IPathfinder <PotentialField> pathfinder, IDefinitionNodeNetwork definitionNodes, float x1, float y1, float x2, float y2, PathfindaxCollisionCategory collisionLayer = PathfindaxCollisionCategory.None, byte agentSize = 1)
{
switch (definitionNodes)
{
case IDefinitionNodeGrid definitionNodeGrid:
var offset = -GridClearanceHelper.GridNodeOffset(agentSize, definitionNodeGrid.Transformer.Scale);
var startNode = definitionNodeGrid.GetNode(x1 + offset.X, y1 + offset.Y);
var endNode = definitionNodeGrid.GetNode(x2 + offset.X, y2 + offset.Y);
return(PathRequest.Create(pathfinder, startNode, endNode, collisionLayer, agentSize));
default:
throw new NotSupportedException($"{definitionNodes.GetType()} is not supported");
}
}
public PotentialField FindPath(DijkstraNodeGrid dijkstraNodeNetwork, IPathRequest pathRequest, out bool succes)
{
try
{
if (pathRequest.AgentSize % 2 == 0)
{
throw new InvalidAgentSizeException("Potential fields only support uneven agent sizes such as 1,3,5 etc.");
}
if (_potentialFieldCache == null || !_potentialFieldCache.TryGetValue(pathRequest, out var potentialField))
{
var sw = Stopwatch.StartNew();
var pathfindingNetwork = dijkstraNodeNetwork.GetCollisionLayerNetwork(pathRequest.CollisionCategory);
var startNode = NodePointer.Dereference(pathRequest.PathStart.Index, pathfindingNetwork);
var targetNode = NodePointer.Dereference(pathRequest.PathEnd.Index, pathfindingNetwork);
if (_dijkstraAlgorithm.FindPath(pathfindingNetwork, targetNode, startNode, pathRequest))
{
potentialField = FindPath(dijkstraNodeNetwork, pathfindingNetwork, targetNode, pathRequest);
}
else
{
potentialField = new PotentialField(dijkstraNodeNetwork.DefinitionNodeGrid.Transformer, (Point2)targetNode.DefinitionNode.Position);
}
_potentialFieldCache?.Add(pathRequest, potentialField);
Debug.WriteLine($"Potentialfield created in {sw.ElapsedMilliseconds} ms.");
}
var nodeWorldPosition = potentialField.GridTransformer.ToWorld(pathRequest.PathStart.Position);
var offset = GridClearanceHelper.GridNodeOffset(pathRequest.AgentSize, dijkstraNodeNetwork.DefinitionNodeGrid.Transformer.Scale);
succes = potentialField.GetHeading(nodeWorldPosition + offset).Length > 0;
return(potentialField);
}
catch (Exception ex)
{
Debug.WriteLine(ex);
Debugger.Break();
succes = false;
return(null);
}
}
