private bool SearchForPath(PathRequest request)
{
try
{
var fromCell = request.From;
var toCell = request.To;
_searchFrontierPhase += 2;
if (_searchFrontier == null)
{
_searchFrontier = new CellPriorityQueue();
}
else
{
_searchFrontier.Clear();
}
fromCell.SearchPhase = _searchFrontierPhase;
fromCell.SearchDistance = 0;
_searchFrontier.Enqueue(fromCell);
while (_searchFrontier.Count > 0)
{
var current = _searchFrontier.Dequeue();
current.SearchPhase++;
if (current == toCell)
{
return(true);
}
for (var d = Direction.N; d <= Direction.NW; d++)
{
var neighbor = current.GetNeighbor(d);
if (neighbor == null || neighbor.SearchPhase > _searchFrontierPhase)
{
continue;
}
var neighborTravelCost = request.CalculateTravelCost.Invoke(current, neighbor);
if (neighborTravelCost < 0)
{
continue;
}
var distance = current.SearchDistance + neighborTravelCost;
if (neighbor.SearchPhase < _searchFrontierPhase)
{
neighbor.SearchPhase = _searchFrontierPhase;
neighbor.SearchDistance = distance;
neighbor.PathFrom = current;
neighbor.SearchHeuristic = neighbor.DistanceTo(toCell);
_searchFrontier.Enqueue(neighbor);
}
else if (distance < neighbor.SearchDistance)
{
var oldPriority = neighbor.SearchPriority;
neighbor.SearchDistance = distance;
neighbor.PathFrom = current;
_searchFrontier.Change(neighbor, oldPriority);
}
}
}
return(false);
}
catch (Exception ex)
{
Debug.LogWarning("Pathing error: " + ex.ToString());
throw;
}
}
public InvalidPathException(PathRequest pathRequest)
{
PathRequest = pathRequest;
}
public void AddPathRequest(PathRequest pathRequest)
{
_pathQueue.Enqueue(pathRequest);
}
