/**
* @param targetType see {@link ActionTarget}
* @return goal node to restore path from
*/
private List <Vector3Int> search(Node initialNode, Vector3Int target, ActionTargetTypeEnum targetType)
{
var openSet = new BinaryHeap();
var closedSet = new HashSet <Vector3Int>();
var fetchedNodes = new Dictionary <Vector3Int, Vector3Int?>();
var finishCondition = new PathFinishCondition(target, targetType);
openSet.push(initialNode);
while (openSet.Count > 0)
{
if (!openSet.tryPop(out var currentNode))
{
return(null); // get node from open set or return not found
}
if (finishCondition.check(currentNode.position))
{
return(getPath(currentNode, fetchedNodes)); //check if path is complete
}
var vectors = getSuccessors(currentNode.position, closedSet);
var pathLength = currentNode.pathLength + 1;
vectors.ForEach(vector => { // iterate passable near positions
openSet.tryGet(vector, out var oldNode);
if (oldNode == null || oldNode.Value.pathLength > pathLength) // if successor node is newly found, or has shorter path
{
openSet.push(new Node(vector, currentNode.position, getH(target, vector), pathLength)); // replace old node
}
});
closedSet.Add(currentNode.position); // node processed
fetchedNodes[currentNode.position] = currentNode.parent;
}
Debug.Log("No path found");
return(null);
}
public PathFinishCondition(Vector3Int target, ActionTargetTypeEnum targetType)
{
if (targetType == EXACT || targetType == ANY)
{
acceptable.Add(target);
}
if (targetType == NEAR || targetType == ANY) // add near tiles
{
LocalMap map = GameModel.localMap;
PositionUtil.allNeighbour
.Select(delta => target + delta)
.Where(pos => map.inMap(pos))
.Where(pos => map.passageMap.passage.get(pos) == PASSABLE.VALUE)
.Apply(pos => acceptable.Add(pos));
PositionUtil.allNeighbour
.Select(delta => target + delta)
.Select(pos => pos.add(0, 0, -1))
.Where(pos => map.inMap(pos))
.Where(pos => map.blockType.get(pos) == RAMP.CODE)
.Apply(pos => acceptable.Add(pos));
}
if (targetType != NEAR && targetType != ANY)
{
return;
}
}
public ActionTarget(ActionTargetTypeEnum type)
{
this.type = type;
}
public List <Vector3Int> makeShortestPath(Vector3Int start, Vector3Int target, ActionTargetTypeEnum targetType)
{
localMap = GameModel.localMap;
Debug.Log("searching path from " + start + " to " + target);
return(search(new Node(start, null, getH(target, start), 0), target, targetType));
}
public PositionActionTarget(Vector3Int targetPosition, ActionTargetTypeEnum placement) : base(placement)
{
this.targetPosition = targetPosition;
}
public EntityActionTarget(EcsEntity entity, ActionTargetTypeEnum placement) : base(placement)
{
this.entity = entity;
}
