private bool ShouldReinitPath()
{
// This prevents re-initializing the path too often
if (MySandboxGame.TotalGamePlayTimeInMilliseconds - m_lastInitTime < 1000)
{
return(false);
}
// Otherwise, the path needs to be reinitialized only when the target entity moves
return(m_goal.ShouldReinitPath());
}
private void ExpandPath(Vector3D currentPosition)
{
if (m_pathNodePosition >= m_pathNodes.Count - 1)
{
ProfilerShort.Begin("GenerateHighLevelPath");
GenerateHighLevelPath();
ProfilerShort.End();
}
if (m_pathNodePosition >= m_pathNodes.Count)
{
return;
}
MyPath <MyNavigationPrimitive> path = null;
bool isLastPath = false;
m_expandedPath.Clear();
if (m_pathNodePosition + 1 < m_pathNodes.Count)
{
if (m_pathNodes[m_pathNodePosition].IsExpanded)
{
if (m_pathNodes[m_pathNodePosition + 1].IsExpanded)
{
IMyHighLevelComponent component = m_pathNodes[m_pathNodePosition].GetComponent();
IMyHighLevelComponent otherComponent = m_pathNodes[m_pathNodePosition + 1].GetComponent();
// CH: TODO: Preallocate the functions to avoid using lambdas.
ProfilerShort.Begin("FindPath to next compo");
path = m_pathfinding.FindPath(m_currentPrimitive, m_goal.PathfindingHeuristic, (prim) => otherComponent.Contains(prim) ? 0.0f : float.PositiveInfinity, (prim) => component.Contains(prim) || otherComponent.Contains(prim));
ProfilerShort.End();
}
else
{
Debug.Assert(!MyFakes.SHOW_PATH_EXPANSION_ASSERTS, "First hierarchy path node is expanded, but the second one is not! First two nodes should always be expanded so that pathfinding can be done.");
}
}
else
{
Debug.Assert(!MyFakes.SHOW_PATH_EXPANSION_ASSERTS, "Nodes of smart path are not expanded!");
}
}
else
{
if (m_pathNodes[m_pathNodePosition].IsExpanded)
{
// Try to find a path to a goal primitive inside the last high level component.
// If the last primitive of the found path is not in the last high level component, add that component to the goal's ignore list
IMyHighLevelComponent component = m_pathNodes[m_pathNodePosition].GetComponent();
ProfilerShort.Begin("FindPath to goal in the last component");
path = m_pathfinding.FindPath(m_currentPrimitive, m_goal.PathfindingHeuristic, (prim) => component.Contains(prim) ? m_goal.TerminationCriterion(prim) : 30.0f, (prim) => component.Contains(prim));
ProfilerShort.End();
if (path != null)
{
// We reached goal
if (path.Count != 0 && component.Contains(path[path.Count - 1].Vertex as MyNavigationPrimitive))
{
isLastPath = true;
}
// We reached other component (goal could not be reached in this component)
else
{
m_goal.IgnoreHighLevel(m_pathNodes[m_pathNodePosition]);
}
}
}
else
{
Debug.Assert(!MyFakes.SHOW_PATH_EXPANSION_ASSERTS, "Nodes of smart path are not expanded!");
}
}
if (path == null || path.Count == 0)
{
return;
}
Vector3D end = default(Vector3D);
var lastPrimitive = path[path.Count - 1].Vertex as MyNavigationPrimitive;
if (isLastPath)
{
Vector3 endPoint = m_goal.Destination.GetBestPoint(lastPrimitive.WorldPosition);
Vector3 localEnd = lastPrimitive.Group.GlobalToLocal(endPoint);
localEnd = lastPrimitive.ProjectLocalPoint(localEnd);
end = lastPrimitive.Group.LocalToGlobal(localEnd);
}
else
{
end = lastPrimitive.WorldPosition;
}
RefineFoundPath(ref currentPosition, ref end, path);
// If the path is too short, don't use it to prevent jerking in stuck situations
if (m_pathNodes.Count <= 1 && isLastPath && m_expandedPath.Count > 0 && path.Count <= 2 && !m_goal.ShouldReinitPath())
{
Vector4D end4D = m_expandedPath[m_expandedPath.Count - 1];
// Here, 256 is just a small enough value to catch most false-positives
if (Vector3D.DistanceSquared(currentPosition, end) < end4D.W * end4D.W / 256)
{
m_expandedPath.Clear();
}
}
}
