private void ApplyNow(Path somePath)
{
object obj = this.lockObject;
lock (obj)
{
this.waitingForApply = false;
AstarPath.OnPathPreSearch = (OnPathDelegate)Delegate.Remove(AstarPath.OnPathPreSearch, new OnPathDelegate(this.ApplyNow));
this.InversePrevious();
if (!this.destroyed)
{
int seed = this.seedGenerator.Next();
this.rnd = new System.Random(seed);
if (this.toBeApplied != null)
{
int num = this.rnd.Next(this.randomStep);
for (int i = num; i < this.toBeApplied.Length; i += this.rnd.Next(1, this.randomStep))
{
this.toBeApplied[i].Penalty = (uint)((ulong)this.toBeApplied[i].Penalty + (ulong)((long)this.penalty));
}
}
this.prevPenalty = this.penalty;
this.prevSeed = seed;
this.prevNodes = this.toBeApplied;
}
}
}
void OnCaculate(Pathfinding.Path path)
{
Debug.Log(Time.frameCount);
caculated = true;
list.Clear();
ReflectionCaculator.CaculateReflectionPoints(path as FixedABPath, list);
}
void ClearOnDestroy (Path p) {
lock (lockObject) {
AstarPath.OnPathPreSearch -= ClearOnDestroy;
waitingForApply = false;
InversePrevious();
}
}
public void CalculatePath()
{
var pos = (target == null) ? targetPosition : (target.transform.position + targetPosition);
p = ABPath.Construct (go.transform.position , pos , OnPathComplete); // create path from current position to closest/first node
AstarPath.StartPath (p); //make the actual vector3 path which we'll use lateron.
pUpdate = 0;
}
public override void Apply (Path _p) {
var p = _p as ABPath;
// This modifier only supports ABPaths (doesn't make much sense for other paths anyway)
if (p == null || p.vectorPath.Count == 0) return;
if (p.vectorPath.Count == 1 && !addPoints) {
// Duplicate first point
p.vectorPath.Add(p.vectorPath[0]);
}
// Add instead of replacing points
bool forceAddStartPoint, forceAddEndPoint;
Vector3 pStart = Snap(p, exactStartPoint, true, out forceAddStartPoint);
Vector3 pEnd = Snap(p, exactEndPoint, false, out forceAddEndPoint);
// Add or replace the start point
// Disable adding of points if the mode is SnapToNode since then
// the first item in vectorPath will very likely be the same as the
// position of the first node
if ((forceAddStartPoint || addPoints) && exactStartPoint != Exactness.SnapToNode) {
p.vectorPath.Insert(0, pStart);
} else {
p.vectorPath[0] = pStart;
}
if ((forceAddEndPoint || addPoints) && exactEndPoint != Exactness.SnapToNode) {
p.vectorPath.Add(pEnd);
} else {
p.vectorPath[p.vectorPath.Count-1] = pEnd;
}
}
public void OnPathComplete (Path p) {
// Debug.Log ("Yay, we got a path back. Did it have an error? "+p.error);
if (!p.error) {
path = p;
//Reset the waypoint counter
currentWaypoint = 0;
}
}
private void OnPathComplete(Pathfinding.Path p)
{
if (!p.error)
{
mPath = p;
mCurrentWayPoint = 0;
}
}
private void OnPathComplete(Path path)
{
if (!path.error)
{
this.path = path;
currentWayPoint = 0;
}
}
public PathEndingCondition(Path p)
{
if (p == null)
{
throw new ArgumentNullException("p");
}
this.path = p;
}
//La fin du chemin est atteinte
void OnPathComplete(Path p)
{
if (!p.error)
{
path = p;
currentWaypoint = 0;
}
}
void CompletePath(Pathfinding.Path p)
{
if (!p.error) {
path = p;
currentWayPoint = 1;
if (p.vectorPath.Count == 1) currentWayPoint = 0;
if (!animator.GetBool("Running")) animator.SetBool("Run",true);
}
}
public static bool InSearchTree(GraphNode node, Path path)
{
if (path == null || path.pathHandler == null)
{
return true;
}
PathNode pathNode = path.pathHandler.GetPathNode(node);
return pathNode.pathID == path.pathID;
}
/** Initializes the NodeRunData for calculation of the specified path.
* Called by core pathfinding functions just before starting to calculate a path.
*/
public void Initialize (Path p) {
path = p;
pathID = p.pathID;
//Resets the binary heap, don't clear everything because that takes an awful lot of time, instead we can just change the numberOfItems in it (which is just an int)
//Binary heaps are just like a standard array but are always sorted so the node with the lowest F value can be retrieved faster
open.Clear ();
}
//当寻路结束后调用这个函数
public void OnPathComplete(Path p)
{
Debug.Log("FindThePath" + p.error);
//如果找到了一条路径，保存下来，并且把第一个路点设置为当前路点
if (!p.error)
{
path = p;
currentWaypoint = 0;
}
}
//When it is done calculating were it needs to be
public void OnPathComplete(Pathfinding.Path p)
{
//Debug.Log("A path was calculated. Did it fail with an error? " + p.error);
if (!p.error)
{
path = p;
// Reset the waypoint counter so that we start to move towards the first point in the path
currentWaypoint = 0;
}
}
void OnPathComplete(Pathfinding.Path p)
{
//Runs when pathfinding is complete, if there are no errors the start of a new path will become the current waypoint when the RecalculatePath coroutine is running.
//Based on the Brackeys tutorial.
if (!p.error)
{
currentPath = p;
currentWaypoint = 0;
}
}
private float GetTotalDistanceOfPath(Path path)
{
var totalDistance = 0.0f;
for (var i = 1; i < path.vectorPath.Count; i++)
{
var previousPosition = path.vectorPath[i - 1];
var nextPosition = path.vectorPath[i];
totalDistance = Vector3.Distance(previousPosition, nextPosition);
}
return totalDistance;
}
void ChooseWaypoint()
{
if (waypoints.Length <= 2) {
return;
}
destinationWaypoint = waypoints [UnityEngine.Random.Range (0, waypoints.Length - 1)];
path = null;
currentDirection = Vector3.zero;
currentWaypointIndex = 0;
seeker.StartPath (transform.position, destinationWaypoint.position, OnPathComplete);
}
private void PathFinishedDelegate(Path path)
{
if (path.error)
{
Error = path.errorLog;
PathFailed();
return;
}
GeneratedPath = (ConstantPath) path;
PathGenerated();
}
public override void Apply (Path p) {
if (this == null) return;
lock (lockObject) {
toBeApplied = p.path.ToArray();
if (!waitingForApply) {
waitingForApply = true;
AstarPath.OnPathPreSearch += ApplyNow;
}
}
}
public override void Apply (Path p) {
List<GraphNode> path = p.path;
List<Vector3> vectorPath = p.vectorPath;
if (path == null || path.Count == 0 || vectorPath == null || vectorPath.Count != path.Count) {
return;
}
List<Vector3> funnelPath = ListPool<Vector3>.Claim();
// Claim temporary lists and try to find lists with a high capacity
List<Vector3> left = ListPool<Vector3>.Claim(path.Count+1);
List<Vector3> right = ListPool<Vector3>.Claim(path.Count+1);
AstarProfiler.StartProfile("Construct Funnel");
// Add start point
left.Add(vectorPath[0]);
right.Add(vectorPath[0]);
// Loop through all nodes in the path (except the last one)
for (int i = 0; i < path.Count-1; i++) {
// Get the portal between path[i] and path[i+1] and add it to the left and right lists
bool portalWasAdded = path[i].GetPortal(path[i+1], left, right, false);
if (!portalWasAdded) {
// Fallback, just use the positions of the nodes
left.Add((Vector3)path[i].position);
right.Add((Vector3)path[i].position);
left.Add((Vector3)path[i+1].position);
right.Add((Vector3)path[i+1].position);
}
}
// Add end point
left.Add(vectorPath[vectorPath.Count-1]);
right.Add(vectorPath[vectorPath.Count-1]);
if (!RunFunnel(left, right, funnelPath)) {
// If funnel algorithm failed, degrade to simple line
funnelPath.Add(vectorPath[0]);
funnelPath.Add(vectorPath[vectorPath.Count-1]);
}
// Release lists back to the pool
ListPool<Vector3>.Release(p.vectorPath);
p.vectorPath = funnelPath;
ListPool<Vector3>.Release(left);
ListPool<Vector3>.Release(right);
}
public override void UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler) {
UpdateG (path,pathNode);
handler.PushNode (pathNode);
for (int i=0;i<connections.Length;i++) {
GraphNode other = connections[i];
PathNode otherPN = handler.GetPathNode (other);
if (otherPN.parent == pathNode && otherPN.pathID == handler.PathID) {
other.UpdateRecursiveG (path, otherPN,handler);
}
}
}
/**
* Returns all paths in the return stack.
* Paths which have been processed are put in the return stack.
* This function will pop all items from the stack and return them to e.g the Seeker requesting them.
*
* \param timeSlice Do not return all paths at once if it takes a long time, instead return some and wait until the next call.
*/
public void ReturnPaths (bool timeSlice) {
// Pop all items from the stack
Path p = pathReturnStack.PopAll ();
if(pathReturnPop == null) {
pathReturnPop = p;
} else {
Path tail = pathReturnPop;
while (tail.next != null) tail = tail.next;
tail.next = p;
}
// Hard coded limit on 1.0 ms
long targetTick = timeSlice ? System.DateTime.UtcNow.Ticks + 1 * 10000 : 0;
int counter = 0;
// Loop through the linked list and return all paths
while (pathReturnPop != null) {
//Move to the next path
Path prev = pathReturnPop;
pathReturnPop = pathReturnPop.next;
// Remove the reference to prevent possible memory leaks
// If for example the first path computed was stored somewhere,
// it would through the linked list contain references to all comming paths to be computed,
// and thus the nodes those paths searched.
// That adds up to a lot of memory not being released
prev.next = null;
//Return the path
prev.ReturnPath ();
// Will increment to Returned
// However since multithreading is annoying, it might be set to ReturnQueue for a small time until the pathfinding calculation
// thread advanced the state as well
prev.AdvanceState (PathState.Returned);
prev.ReleaseSilent (pathsClaimedSilentlyBy);
counter++;
// At least 5 paths will be returned, even if timeSlice is enabled
if (counter > 5 && timeSlice) {
counter = 0;
if (System.DateTime.UtcNow.Ticks >= targetTick) {
return;
}
}
}
}
private void PathFinishedDeletate(Path path)
{
if (path.error)
{
Error = path.errorLog;
PathFailed();
}
else
{
GeneratedPath = path;
PathGenerated();
PathGenerated();
}
}
public override void Apply (Path p, ModifierData source) {
var path = p.path;
var vectorPath = p.vectorPath;
if (path == null || path.Count == 0 || vectorPath == null || vectorPath.Count != path.Count) {
return;
}
var funnelPath = ListPool<Vector3>.Claim ();
//Claim temporary lists and try to find lists with a high capacity
var left = ListPool<Vector3>.Claim (path.Count+1);
var right = ListPool<Vector3>.Claim (path.Count+1);
AstarProfiler.StartProfile ("Construct Funnel");
left.Add (vectorPath[0]);
right.Add (vectorPath[0]);
for (var i=0;i<path.Count-1;i++) {
var a = path[i].GetPortal (path[i+1], left, right, false);
var b = false;//path[i+1].GetPortal (path[i], right, left, true);
if (!a && !b) {
left.Add ((Vector3)path[i].position);
right.Add ((Vector3)path[i].position);
left.Add ((Vector3)path[i+1].position);
right.Add ((Vector3)path[i+1].position);
}
}
left.Add (vectorPath[vectorPath.Count-1]);
right.Add (vectorPath[vectorPath.Count-1]);
if (!RunFunnel (left,right,funnelPath)) {
//If funnel algorithm failed, degrade to simple line
funnelPath.Add (vectorPath[0]);
funnelPath.Add (vectorPath[vectorPath.Count-1]);
}
ListPool<Vector3>.Release (p.vectorPath);
p.vectorPath = funnelPath;
ListPool<Vector3>.Release (left);
ListPool<Vector3>.Release (right);
}
public override void Apply(Path p, ModifierData source)
{
if (this == null)
{
return;
}
object obj = this.lockObject;
lock (obj)
{
this.toBeApplied = p.path.ToArray();
if (!this.waitingForApply)
{
this.waitingForApply = true;
AstarPath.OnPathPreSearch = (OnPathDelegate)Delegate.Combine(AstarPath.OnPathPreSearch, new OnPathDelegate(this.ApplyNow));
}
}
}
public void OnDisable()
{
// Abort calculation of path
if (seeker != null && !seeker.IsDone())
{
seeker.GetCurrentPath().Error();
}
// Release current path
if (path != null)
{
path.Release(this);
}
path = null;
//Make sure we receive callbacks when paths complete
seeker.pathCallback -= OnPathComplete;
}
void FindRoute() {
if (_routeFinding)
return;
position.y = Terrain.activeTerrain.SampleHeight(position);
lastPosition = position;
if ((transform.position - position).sqrMagnitude < 200) {
_path = null;
return;
}
_routeFinding = true;
_seeker.StartPath(transform.position, position, (p) => {
_currentPosition = 2;
_path = p;
_routeFinding = false;
});
}
//寻路结束;
public void OnPathComplete(Path p)
{
//UnityEngine.Debug.Log("OnPathComplete error = " + p.error);
if (!p.error)
{
//currentWayPoint = 0;
path = p;
//stopMove = false;
PositionsLog(p.vectorPath);
//pathFindingTimes++;
}
StartCoroutine(NextPathfinding());
/*for (int index = 0; index < path.vectorPath.Count; index++)
* {
* //UnityEngine.Debug.Log(gameObject.name + "-path.vectorPath[" + index + "]=" + path.vectorPath[index]);
* }*/
}
void OnpathEnd(Pathfinding.Path p)
{
if (p.error)
{
return;
}
Debug.Log(p.vectorPath.Count);
path = p;
currentWaypoint = 0;
// foreach(var one in path.vectorPath)
// {
// Debug.Log(one);
//
// }
//path.path[0].position;
//Debug.Log(path.duration);
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (this.connections == null)
{
return;
}
for (int i = 0; i < this.connections.Length; i++)
{
GraphNode graphNode = this.connections[i];
if (path.CanTraverse(graphNode))
{
PathNode pathNode2 = handler.GetPathNode(graphNode);
if (pathNode2.pathID != handler.PathID)
{
pathNode2.node = graphNode;
pathNode2.parent = pathNode;
pathNode2.pathID = handler.PathID;
pathNode2.cost = this.connectionCosts[i];
pathNode2.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode2);
handler.PushNode(pathNode2);
}
else
{
uint num = this.connectionCosts[i];
if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
/** Push a path to the front of the queue */
public void PushFront (Path p) {
//If termination is due, why add stuff to a queue which will not be read from anyway
if (terminate) return;
lock (lockObj) {
if (tail == null) {// (tail == null) ==> (head == null)
head = p;
tail = p;
if (starving && !blocked) {
starving = false;
block.Set();
} else {
starving = false;
}
} else {
p.next = head;
head = p;
}
}
}
public static ModifierData Convert(Path p, ModifierData input, ModifierData output)
{
if (!ModifierConverter.CanConvert(input, output))
{
Debug.LogError(string.Concat(new object[]
{
"Can't convert ",
input,
" to ",
output
}));
return ModifierData.None;
}
if (ModifierConverter.AnyBits(input, output))
{
return input;
}
if (ModifierConverter.AnyBits(input, ModifierData.Nodes) && ModifierConverter.AnyBits(output, ModifierData.Vector))
{
p.vectorPath.Clear();
for (int i = 0; i < p.vectorPath.Count; i++)
{
p.vectorPath.Add((Vector3)p.path[i].position);
}
return ModifierData.VectorPath | ((!ModifierConverter.AnyBits(input, ModifierData.StrictNodePath)) ? ModifierData.None : ModifierData.StrictVectorPath);
}
Debug.LogError(string.Concat(new object[]
{
"This part should not be reached - Error in ModifierConverted\nInput: ",
input,
" (",
(int)input,
")\nOutput: ",
output,
" (",
(int)output,
")"
}));
return ModifierData.None;
}
void FindRoute()
{
if (_routeFinding)
{
return;
}
position.y = Terrain.activeTerrain.SampleHeight(position);
lastPosition = position;
if ((transform.position - position).sqrMagnitude < 200)
{
_path = null;
return;
}
_routeFinding = true;
_seeker.StartPath(transform.position, position, (p) => {
_currentPosition = 2;
_path = p;
_routeFinding = false;
});
}
public override void OnEnter()
{
var doo = InputPath.Value as FsmPath;
a = doo.Value;
if(a == null)
{
Finish();
return;
}
var x = 0;
while (x < a.path.Count)
{
//a.path[x].position.x += Vector.Value.x/a.path[x].position.PrecisionFactor;
//a.path[x].position.y += Vector.Value.y/a.path[x].position.PrecisionFactor;
//a.path[x].position.z += Vector.Value.z/a.path[x].position.PrecisionFactor;
a.vectorPath[x] += Vector.Value;
x++;
}
Finish();
}
//Called once when the path to the current target position has been calculated.
public void OnPathCalculationComplete(Pathfinding.Path path)
{
//OnPathTravelStart() flag
if (flagOnStart)
{
flagOnStart = false;
rtsGameObject.OnPathTravelStart();
}
//Check for path calculation error
if (!path.error)
{
//Reset variables
this.path = path;
currentWaypoint = 0;
rtsGameObject.OnPathTravelUpdate();
}
else
{
Debug.LogError("Path calculation error: " + path.error);
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
if (connections == null) return;
for (int i=0;i<connections.Length;i++) {
GraphNode other = connections[i];
if (path.CanTraverse (other)) {
PathNode pathOther = handler.GetPathNode (other);
if (pathOther.pathID != handler.PathID) {
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = connectionCosts[i];
pathOther.H = path.CalculateHScore (other);
other.UpdateG (path, pathOther);
handler.PushNode (pathOther);
} else {
//If not we can test if the path from this node to the other one is a better one then the one already used
uint tmpCost = connectionCosts[i];
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < pathOther.G) {
pathOther.cost = tmpCost;
pathOther.parent = pathNode;
other.UpdateRecursiveG (path, pathOther,handler);
//handler.PushNode (pathOther);
}
else if (pathOther.G+tmpCost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this)) {
//Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = tmpCost;
UpdateRecursiveG (path, pathNode,handler);
//handler.PushNode (pathNode);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
GridGraph gg = GetGridGraph(GraphIndex);
ushort pid = handler.PathID;
{
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
var index = NodeInGridIndex;
for (int i = 0; i < 8; i++) {
if (HasConnectionInDirection(i)) {
GridNode other = nodes[index + neighbourOffsets[i]];
if (!path.CanTraverse(other)) continue;
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = neighbourCosts[i];
if (otherPN.pathID != pid) {
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
other.UpdateG(path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.heap.Add(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
} else {
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G+tmpCost < otherPN.G)
#else
if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G+tmpCost < pathNode.G)
#else
else if (otherPN.G+tmpCost+path.GetTraversalCost(this) < pathNode.G)
#endif
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
base.Open(path, pathNode, handler);
#endif
}
public void InitializeForPath (Path p) {
pathID = p.pathID;
heap.Clear ();
}
public override void Apply (Path p, ModifierData source) {
//This should never trigger unless some other modifier has messed stuff up
if (p.vectorPath == null) {
Debug.LogWarning ("Can't process NULL path (has another modifier logged an error?)");
return;
}
List<Vector3> path = null;
switch (smoothType) {
case SmoothType.Simple:
path = SmoothSimple (p.vectorPath); break;
case SmoothType.Bezier:
path = SmoothBezier (p.vectorPath); break;
case SmoothType.OffsetSimple:
path = SmoothOffsetSimple (p.vectorPath); break;
case SmoothType.CurvedNonuniform:
path = CurvedNonuniform (p.vectorPath); break;
}
if (path != p.vectorPath) {
ListPool<Vector3>.Release (p.vectorPath);
p.vectorPath = path;
}
//.vectorPath.Clear ();
//p.vectorPath.AddRange (path);
}
public new override void Open(NodeRunData nodeRunData, NodeRun nodeR, Int3 targetPosition, Path path)
{
BaseOpen (nodeRunData, nodeR, targetPosition, path);
LayerGridGraph graph = gridGraphs[indices >> 24];
int[] neighbourOffsets = graph.neighbourOffsets;
int[] neighbourCosts = graph.neighbourCosts;
Node[] nodes = graph.nodes;
int index = GetIndex();//indices & 0xFFFFFF;
for (int i=0;i<4;i++) {
int conn = GetConnectionValue(i);//(gridConnections >> i*4) & 0xF;
if (conn != LevelGridNode.NoConnection) {
Node node = nodes[index+neighbourOffsets[i] + graph.width*graph.depth*conn];
if (!path.CanTraverse (node)) {
continue;
}
NodeRun nodeR2 = node.GetNodeRun (nodeRunData);
if (nodeR2.pathID != nodeRunData.pathID) {
nodeR2.parent = nodeR;
nodeR2.pathID = nodeRunData.pathID;
nodeR2.cost = (uint)neighbourCosts[i];
node.UpdateH (targetPosition, path.heuristic, path.heuristicScale, nodeR2);
node.UpdateG (nodeR2, nodeRunData);
nodeRunData.open.Add (nodeR2);
} else {
//If not we can test if the path from the current node to this one is a better one then the one already used
uint tmpCost = (uint)neighbourCosts[i];
if (nodeR.g+tmpCost+node.penalty
#if !NoTagPenalty
+ path.GetTagPenalty(node.tags)
#endif
< nodeR2.g) {
nodeR2.cost = tmpCost;
nodeR2.parent = nodeR;
//TODO!!!!! ??
node.UpdateAllG (nodeR2,nodeRunData);
nodeRunData.open.Add (nodeR2);
}
else if (nodeR2.g+tmpCost+penalty
#if !NoTagPenalty
+ path.GetTagPenalty(tags)
#endif
< nodeR.g) {//Or if the path from this node ("node") to the current ("current") is better
bool contains = node.ContainsConnection (this);
//Make sure we don't travel along the wrong direction of a one way link now, make sure the Current node can be moved to from the other Node.
/*if (node.connections != null) {
for (int y=0;y<node.connections.Length;y++) {
if (node.connections[y] == this) {
contains = true;
break;
}
}
}*/
if (!contains) {
continue;
}
nodeR.parent = nodeR2;
nodeR.cost = tmpCost;
//TODO!!!!!!! ??
UpdateAllG (nodeR,nodeRunData);
nodeRunData.open.Add (nodeR);
}
}
}
}
}
public void OnPathComplete(Pathfinding.Path p)
{
Debug.Log("A path was calculated. Did it fail with an error? " + p.error);
if (!p.error)
{
path = p;
// Reset the waypoint counter so that we start to move towards the first point in the path
currentWaypoint = 0;
}
// Debug.Log("Get a path: \n" + path);
// Debug.Log("duration: " + path.heuristic);
// Debug.Log("duration: " + path.vectorPath);
// Debug.Log("GetTotalLength: " + path.GetTotalLength());
// Debug.Log("GetTraversalCost: " + path.GetTraversalCost);
// Debug.Log("duration: " + path.duration);
// break;
// var stream = System.IO.File.CreateText(file_path);
// var w = new StreamWriter(file_path);
for (int i = 0; i < path.vectorPath.Count; i++)
{
string x = path.vectorPath[i][0].ToString();
string y = path.vectorPath[i][1].ToString();
string z = path.vectorPath[i][2].ToString();
// File.WriteAllText(file_path, path.vectorPath[i][0].ToString());
// System.IO.File.WriteAllText(file_path, path.vectorPath[i][0].ToString());
// System.IO.File.AppendAllText(file_path, path.ToString());
// Debug.Log("path x: " + i + " " + path.vectorPath[i][0].ToString());
// Debug.Log("path y: " + i + " " + path.vectorPath[i][1].ToString());
// Debug.Log("path z: " + i + " " + path.vectorPath[i][2].ToString());
string csvRow = string.Format("{0},{1},{2},{3},{4},{5},\n", i, x, y, z, path.GetTotalLength(), "");
// stream.WriteLine(csvRow);
// Debug.Log("Log to file" + i + " " + csvRow);
// System.IO.File.AppendAllText(file_path, csvRow);
// System.IO.File.AppendAllLines(file_path, csvRow);
// Debug.Log("Path info 1: " + path.path.Count);
// Debug.Log("Path info 2: " + path.searchedNodes());
// Debug.Log("Path info 3: " + path.GetTotalLength());
// Debug.Log("Path info 4: " + path.GetTraversalCost());
// Debug.Log("Path info 5: " + path.GetState());
// Debug.Log("Path info 6: " + path.GetHTarget());
// Debug.Log("Path info 7: " + path.duration);
// Debug.Log("Path info 8: " + path.pathID);
// Debug.Log("Path info 9: " + path.path);
// Node
// if (pathHandler == null) FailWithError("Field pathHandler is not set. Please report this bug.");
// PathNode nodeR = pathHandler.GetPathNode(path.path[8]);
// Debug.Log("Path info 9: " + path.path[i].H);
// Debug.Log("H: " + nodeR.H);
// Mark nodes to enable special connection costs for start and end nodes
// See GetConnectionSpecialCost
// if (startNode != null) pathHandler.GetPathNode(startNode).flag2 = true;
// if (endNode != null) pathHandler.GetPathNode(endNode).flag2 = true;
// Zero out the properties on the start node
// PathNode startRNode = pathHandler.GetPathNode(startNode);
// startRNode.node = startNode;
// startRNode.pathID = pathHandler.PathID;
// startRNode.parent = null;
// startRNode.cost = 0;
// startRNode.G = GetTraversalCost(startNode);
// startRNode.H = CalculateHScore(startNode);
}
// pathHandler = new PathHandler(0,0);
// pathHandler.InitializeForPath(path);
// Debug.Log("pathHandler: " + pathHandler.PathID);
// Debug.Log("node: " + pathHandler.GetPathNode(path.path[0]));
// pathHandler.InitializeForPath(path);
// System.IO.File.WriteAllText(file_path, csvRow);
Debug.Log("Path node count: " + path.path.Count);
for (int j = 0; j < path.path.Count; j++)
{
Debug.Log("Path Node index: " + j + " " + path.path[j].NodeIndex);
Debug.Log("Path Node position: " + j + " " + path.path[j].position);
Debug.Log("Path Node Penalty: " + j + " " + path.path[j].Penalty);
Debug.Log("Path Node: " + j + " " + path.path[j]);
// Debug.Log("Path Node position: " + j + " " + path.path[j].position);
// pn = pathHandler.GetPathNode(path.path[j].NodeIndex);
// pn = pathHandler.GetPathNode(path.path[j]);
// pathHandler.startNode
// Debug.Log("pathHandler" + pathHandler.threadID);
// Debug.Log("pathHandler" + pathHandler.totalThreadCount);
// Debug.Log("pathHandler" + pathHandler.heap);
}
}
void OnpathEnd(Pathfinding.Path path)
{
Debug.Log(path.vectorPath.Count);
}
public override void Apply(Path p, ModifierData source)
{
List<GraphNode> path = p.path;
List<Vector3> vectorPath = p.vectorPath;
if (path == null || path.Count == 0 || vectorPath == null || vectorPath.Count != path.Count)
{
return;
}
List<Vector3> list = ListPool<Vector3>.Claim();
List<Vector3> list2 = ListPool<Vector3>.Claim(path.Count + 1);
List<Vector3> list3 = ListPool<Vector3>.Claim(path.Count + 1);
list2.Add(vectorPath[0]);
list3.Add(vectorPath[0]);
for (int i = 0; i < path.Count - 1; i++)
{
if (!path[i].GetPortal(path[i + 1], list2, list3, false))
{
list2.Add((Vector3)path[i].position);
list3.Add((Vector3)path[i].position);
list2.Add((Vector3)path[i + 1].position);
list3.Add((Vector3)path[i + 1].position);
}
}
list2.Add(vectorPath[vectorPath.Count - 1]);
list3.Add(vectorPath[vectorPath.Count - 1]);
if (!FunnelModifier.RunFunnel(list2, list3, list))
{
list.Add(vectorPath[0]);
list.Add(vectorPath[vectorPath.Count - 1]);
}
ListPool<Vector3>.Release(p.vectorPath);
p.vectorPath = list;
ListPool<Vector3>.Release(list2);
ListPool<Vector3>.Release(list3);
}
public void OnPathComplete(Pathfinding.Path p)
{
Debug.Log("Yay, we got a path back. Did it have an error? " + p.error);
}
/** Use this for initialization.
*
* \param s Optionally provide in order to take tag penalties into account. May be null if you do not use a Seeker\
* \param p Path to follow
* \param mergePartEndpoints If true, then adjacent parts that the path is split up in will
* try to use the same start/end points. For example when using a link on a navmesh graph
* Instead of first following the path to the center of the node where the link is and then
* follow the link, the path will be adjusted to go to the exact point where the link starts
* which usually makes more sense.
* \param simplificationMode The path can optionally be simplified. This can be a bit expensive for long paths.
*/
public void Initialize(Seeker s, Path p, bool mergePartEndpoints, bool simplificationMode)
{
if (p.error)
{
throw new System.ArgumentException("Path has an error");
}
List <GraphNode> nodes = p.path;
if (nodes.Count == 0)
{
throw new System.ArgumentException("Path traverses no nodes");
}
seeker = s;
// Release objects back to object pool
// Yeah, I know, it's casting... but this won't be called much
for (int i = 0; i < parts.Count; i++)
{
var funnelPart = parts[i] as RichFunnel;
var specialPart = parts[i] as RichSpecial;
if (funnelPart != null)
{
ObjectPool <RichFunnel> .Release(ref funnelPart);
}
else if (specialPart != null)
{
ObjectPool <RichSpecial> .Release(ref specialPart);
}
}
parts.Clear();
currentPart = 0;
// Initialize new
//Break path into parts
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i] is TriangleMeshNode)
{
var graph = AstarData.GetGraph(nodes[i]);
RichFunnel f = ObjectPool <RichFunnel> .Claim().Initialize(this, graph);
f.funnelSimplification = simplificationMode;
int sIndex = i;
uint currentGraphIndex = nodes[sIndex].GraphIndex;
for (; i < nodes.Count; i++)
{
if (nodes[i].GraphIndex != currentGraphIndex && !(nodes[i] is NodeLink3Node))
{
break;
}
}
i--;
if (sIndex == 0)
{
f.exactStart = p.vectorPath[0];
}
else
{
f.exactStart = (Vector3)nodes[mergePartEndpoints ? sIndex - 1 : sIndex].position;
}
if (i == nodes.Count - 1)
{
f.exactEnd = p.vectorPath[p.vectorPath.Count - 1];
}
else
{
f.exactEnd = (Vector3)nodes[mergePartEndpoints ? i + 1 : i].position;
}
f.BuildFunnelCorridor(nodes, sIndex, i);
parts.Add(f);
}
else if (NodeLink2.GetNodeLink(nodes[i]) != null)
{
NodeLink2 nl = NodeLink2.GetNodeLink(nodes[i]);
int sIndex = i;
uint currentGraphIndex = nodes[sIndex].GraphIndex;
for (i++; i < nodes.Count; i++)
{
if (nodes[i].GraphIndex != currentGraphIndex)
{
break;
}
}
i--;
if (i - sIndex > 1)
{
throw new System.Exception("NodeLink2 path length greater than two (2) nodes. " + (i - sIndex));
}
else if (i - sIndex == 0)
{
//Just continue, it might be the case that a NodeLink was the closest node
continue;
}
RichSpecial rps = ObjectPool <RichSpecial> .Claim().Initialize(nl, nodes[sIndex]);
parts.Add(rps);
}
}
}
/** Called when a requested path has finished calculation.
* A path is first requested by #SearchPath, it is then calculated, probably in the same or the next frame.
* Finally it is returned to the seeker which forwards it to this function.\n
*/
public virtual void OnPathComplete(Pathfinding.Path _p)
{
ABPath p = _p as ABPath;
if (p == null)
{
throw new System.Exception("This function only handles ABPaths, do not use special path types");
}
canSearchAgain = true;
//Claim the new path
p.Claim(this);
// Path couldn't be calculated of some reason.
// More info in p.errorLog (debug string)
if (p.error)
{
p.Release(this);
return;
}
//Release the previous path
if (path != null)
{
path.Release(this);
}
//Replace the old path
path = p;
//Reset some variables
currentWaypointIndex = 0;
targetReached = false;
//The next row can be used to find out if the path could be found or not
//If it couldn't (error == true), then a message has probably been logged to the console
//however it can also be got using p.errorLog
//if (p.error)
if (closestOnPathCheck)
{
// Simulate movement from the point where the path was requested
// to where we are right now. This reduces the risk that the agent
// gets confused because the first point in the path is far away
// from the current position (possibly behind it which could cause
// the agent to turn around, and that looks pretty bad).
Vector3 p1 = Time.time - lastFoundWaypointTime < 0.3f ? lastFoundWaypointPosition : p.originalStartPoint;
Vector3 p2 = GetFeetPosition();
Vector3 dir = p2 - p1;
float magn = dir.magnitude;
dir /= magn;
int steps = (int)(magn / pickNextWaypointDist);
for (int i = 0; i <= steps; i++)
{
CalculateVelocity(p1);
p1 += dir;
}
}
}