void UpdateNode(InternalPathNode from, InternalPathNode neighbor)
{
switch (neighbor.action)
{
case ActionType.WALK:
var parent = parents.Get(from);
InternalPathNode visibleParent = HasLineOfSight(parent.coord, neighbor.coord) ? parent : from;
float cost = movementCosts.Get(visibleParent.coord) + Distance(visibleParent.coord, neighbor.coord) + level.GetCost(neighbor.coord);
TrySetNodeValues(neighbor, visibleParent, cost);
break;
case ActionType.JUMP:
TrySetNodeValues(neighbor, from, movementCosts.Get(from.coord) + jumpCost);
break;
case ActionType.FALL:
TrySetNodeValues(neighbor, from, movementCosts.Get(from.coord) + fallCost);
break;
case ActionType.GAP_JUMP:
TrySetNodeValues(neighbor, from, movementCosts.Get(from.coord) + gapJumpCost);
break;
default:
Debug.LogWarning("Could not finding movement type for " + neighbor);
break;
}
}
IEnumerator Pathfind()
{
frontier.Enqueue(new InternalPathNode(startPos, ActionType.WALK), 0);
movementCosts.Set(startPos, 0);
parents.Set(startPos, new InternalPathNode(startPos, ActionType.WALK));
closestDistance = int.MaxValue;
InternalPathNode current;
var cycles = 0;
while (frontier.Count > 0)
{
++cycles;
current = frontier.Dequeue();
var adj = GetAdjacent(current.coord);
foreach (var pos in adj)
{
if (!IsClosed(pos.coord))
{
if (!frontier.Contains(pos))
{
movementCosts.Set(pos.coord, Mathf.Infinity); // so (new < orig) comparison works
}
UpdateNode(current, pos);
if (pos.coord == endPos)
{
ReconstructPath(pos);
yield break;
}
if (HexUtil.DistanceFlat(pos.coord, endPos) < closestDistance)
{
closestDistance = HexUtil.DistanceFlat(pos.coord, endPos);
closestPoint = pos;
}
}
}
if (cycles >= cyclesPerFrame)
{
cycles = 0;
yield return(null);
}
}
// endpos was not on connected graph; return closest node
ReconstructPath(closestPoint);
}
void TrySetNodeValues(InternalPathNode neighbor, InternalPathNode from, float cost)
{
if (cost < movementCosts.Get(neighbor.coord)) // only update if it's more efficient
{
movementCosts.Set(neighbor.coord, cost);
parents.Set(neighbor.coord, from);
AddToFrontier(neighbor);
}
}
void AddToFrontier(InternalPathNode pos)
{
var f = movementCosts.Get(pos.coord) + Heuristic(pos.coord);
if (frontier.Contains(pos))
{
frontier.UpdatePriority(pos, f);
}
else
{
frontier.Enqueue(pos, f);
}
}
void ReconstructPath(InternalPathNode lastPos)
{
path.Clear();
InternalPathNode cur = lastPos;
while (true)
{
path.Add(new PathNode(HexUtil.ToWorld(cur.coord), cur.action));
if (cur.coord == startPos)
{
break;
}
cur = parents.Get(cur.coord);
}
path.Reverse();
if (OnPathCompleted != null)
{
OnPathCompleted(path);
}
}
