/// <summary>
/// Highlights all occupied cells, if appropriate toggle is active at inspector.
/// </summary>
public void OnDrawGizmos()
{
if (traceCellsInEditor && spaceHandlerInstance != null)
{
Gizmos.color = new Color(1, .46f, .46f, 1);
float cellSize = SpaceGraph.GetLevelSideLength(levelToTrace);
foreach (Vector3 index in SpaceGraph.occCellsLevels[levelToTrace].Keys)
{
Gizmos.DrawWireCube(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(index, levelToTrace),
new Vector3(cellSize * .99f, cellSize * .99f, cellSize * .99f));
}
}
}
// Pathfinding
public List <Vector3> GetWay()
{
Open = new PriorityQueue();
Close = new List <IVertex>();
var s = new List <IVertex>();
s.Add(start);
Open.Add(FFunction(s), s);
while (Open.Count != 0)
{
if (CheckForCancellationRequested())
{
return(null);
}
var p = Open.First();
Open.RemoveFirst();
var x = p.Last();
if (Close.Contains(x))
{
continue;
}
if (x.Equals(goal))
{
spaceManagerInstance.pathfindingThreadsCurCount--;
return(p.Select(el => SpaceGraph.GetCellCenterCoordFromIndexOnLevel(((Cube)el).index, pathfindingLevel)).ToList()); //converting List<IVertex> to Lis<Vector3>
}
Close.Add(x);
foreach (var y in graph.Adjacent(x))
{
if (CheckForCancellationRequested())
{
return(null);
}
if (!Close.Contains(y))
{
var newPath = new List <IVertex>(p);
newPath.Add(y);
Open.Add(FFunction(newPath), newPath);
}
}
}
spaceManagerInstance.pathfindingThreadsCurCount--;
return(null);
}
List <Vector3> BackwardDescent()
{
List <Vector3> way = new List <Vector3>(waves.Count + 1);
way.Add(goal);
for (int waveI = waves.Count - 1; waveI >= 0; waveI--)
{
if (cTInstance.IsCancellationRequested)
{
return(null);
}
for (int i = -1; i <= 1; i += 2)
{
Vector3 cell = new Vector3(way[way.Count - 1].x + i, way[way.Count - 1].y, way[way.Count - 1].z);
if (waves[waveI].Contains(cell))
{
way.Add(cell); goto exitLabel;
}
}
for (int j = -1; j <= 1; j += 2)
{
Vector3 cell = new Vector3(way[way.Count - 1].x, way[way.Count - 1].y + j, way[way.Count - 1].z);
if (waves[waveI].Contains(cell))
{
way.Add(cell); goto exitLabel;
}
}
for (int k = -1; k <= 1; k += 2)
{
Vector3 cell = new Vector3(way[way.Count - 1].x, way[way.Count - 1].y, way[way.Count - 1].z + k);
if (waves[waveI].Contains(cell))
{
way.Add(cell); goto exitLabel;
}
}
exitLabel :;
}
way = way.Select(index => SpaceGraph.GetCellCenterCoordFromIndexOnLevel(index, 0)).ToList();
way.Reverse();
return(way);
}
static Vector3 GetFreeAdjacentCellCoord(Vector3 index, int level)
{
if (IsAdjacentsFree(index, level))
{
return(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(index, level));
}
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
for (int z = -1; z <= 1; z++)
{
Vector3 tmpIndex = new Vector3(index.x + x, index.y + y, index.z + z);
if (IsAdjacentsFree(tmpIndex, level))
{
return(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(tmpIndex, level));
}
}
}
}
return(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(index, level));
}
/// <summary>
/// In-editor highlighting of the wave-trace algorithm executing.
/// </summary>
#region Pathfinding trace
#if UNITY_EDITOR
private void OnDrawGizmos()
{
if (showPathfindingZone)
{
Gizmos.color = Color.green;
Vector3 zoneCenter = new Vector3(xMin + .5f * (xMax - xMin), yMin + .5f * (yMax - yMin),
zMin + .5f * (zMax - zMin));
Gizmos.DrawWireCube(zoneCenter, new Vector3((xMax - xMin), (yMax - yMin), (zMax - zMin)));
}
if (!inEditorPathfindingTraverce)
{
return;
}
Gizmos.color = Color.cyan;
if (waves == null)
{
return;
}
lock (waves)
{
if (waves.Count <= 0)
{
return;
}
foreach (Vector3 cell in waves[waves.Count - 1])
{
Vector3 coord = SpaceGraph.GetCellCenterCoordFromIndexOnLevel(cell, 0);
Gizmos.DrawWireCube(coord,
new Vector3(spaceManagerInstance.cellMinSize, spaceManagerInstance.cellMinSize,
spaceManagerInstance.cellMinSize));
}
}
}
bool IsIndexInRange(int x, int y, int z)
{
Vector3 v = new Vector3(x, y, z);
return(constraints.Check(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(v, pathfindingLevel)));
}
public List <Vector3> GetWay()
{
waves.Add(new HashSet <Vector3> {
start
});
waves.Add(new HashSet <Vector3>());
while (waves[waves.Count - 2].Count != 0)
{
foreach (Vector3 index in waves[waves.Count - 2])
{
if (cTInstance.IsCancellationRequested)
{
return(null);
}
for (int i = -1; i <= 1; i += 2)
{
Vector3 cell = new Vector3(index.x + i, index.y, index.z);
if (cell == goal)
{
return(BackwardDescent());
}
if (!spaceConstarintsInst.Check(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(cell, 0)))
{
continue;
}
if (SpaceGraph.IsCellOccAtIndexOnLevel(cell, 0) || waves[waves.Count - 2].Contains(cell))
{
continue;
}
if (waves.Count > 2)
{
if (waves[waves.Count - 3].Contains(cell))
{
continue;
}
}
lock (waves)
waves[waves.Count - 1].Add(cell);
}
for (int j = -1; j <= 1; j += 2)
{
Vector3 cell = new Vector3(index.x, index.y + j, index.z);
if (cell == goal)
{
return(BackwardDescent());
}
if (!spaceConstarintsInst.Check(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(cell, 0)))
{
continue;
}
if (SpaceGraph.IsCellOccAtIndexOnLevel(cell, 0) || waves[waves.Count - 2].Contains(cell))
{
continue;
}
if (waves.Count > 2)
{
if (waves[waves.Count - 3].Contains(cell))
{
continue;
}
}
lock (waves)
waves[waves.Count - 1].Add(cell);
}
for (int k = -1; k <= 1; k += 2)
{
Vector3 cell = new Vector3(index.x, index.y, index.z + k);
if (cell == goal)
{
return(BackwardDescent());
}
if (!spaceConstarintsInst.Check(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(cell, 0)))
{
continue;
}
if (SpaceGraph.IsCellOccAtIndexOnLevel(cell, 0) || waves[waves.Count - 2].Contains(cell))
{
continue;
}
if (waves.Count > 2)
{
if (waves[waves.Count - 3].Contains(cell))
{
continue;
}
}
lock (waves)
waves[waves.Count - 1].Add(cell);
}
}
HashSet <Vector3> newHSet = new HashSet <Vector3>();
waves.Add(newHSet);
}
return(null);
}
