public NodePath FindPath(IPathfindNodeNetwork <AstarNode> nodeNetwork, IPathRequest pathRequest, out bool succes)
{
var pathfindingNetwork = nodeNetwork.GetCollisionLayerNetwork(pathRequest.CollisionCategory);
var startNode = NodePointer.Dereference(pathRequest.PathStart.Index, pathfindingNetwork);
var endNode = NodePointer.Dereference(pathRequest.PathEnd.Index, pathfindingNetwork);
var path = FindPath(pathfindingNetwork, startNode, endNode, pathRequest.AgentSize, pathRequest.CollisionCategory);
if (path == null)
{
succes = false;
return(new NodePath(new[] { startNode.DefinitionNode }, nodeNetwork.DefinitionNodeNetwork.Transformer));
}
succes = true;
switch (nodeNetwork.DefinitionNodeNetwork)
{
case IDefinitionNodeGrid definitionNodeGrid:
var offset = GridClearanceHelper.GridNodeOffset(pathRequest.AgentSize, definitionNodeGrid.Transformer.Scale);
return(new NodePath(path.ToArray(), definitionNodeGrid.Transformer));
case IDefinitionNodeNetwork definitionNodeNetwork:
return(new NodePath(path.ToArray(), definitionNodeNetwork.Transformer));
default:
throw new NotSupportedException($"{nodeNetwork.DefinitionNodeNetwork.GetType()} is not supported");
}
}
public NodePath FindPath(IPathfindNodeNetwork <AstarNode> nodeNetwork, IPathRequest pathRequest, out bool succes)
{
if (pathRequest.PathStart == pathRequest.PathEnd)
{
succes = true;
return(NodePath.GetEmptyPath(nodeNetwork, pathRequest.PathStart));
}
var pathfindingNetwork = nodeNetwork.GetCollisionLayerNetwork(pathRequest.CollisionCategory);
if (!(pathfindingNetwork[pathRequest.PathStart].Clearance >= pathRequest.AgentSize) || !(pathfindingNetwork[pathRequest.PathEnd].Clearance >= pathRequest.AgentSize))
{
succes = false;
return(NodePath.GetEmptyPath(nodeNetwork, pathRequest.PathStart));
}
StartFindPath(pathfindingNetwork, nodeNetwork.DefinitionNodeNetwork.NodeArray, pathRequest.PathStart);
if (FindPath(pathfindingNetwork, nodeNetwork.DefinitionNodeNetwork.NodeArray, pathRequest.PathEnd, pathRequest.AgentSize, pathRequest.CollisionCategory))
{
var path = _pathRetracer.RetracePath(pathfindingNetwork, nodeNetwork.DefinitionNodeNetwork.NodeArray, pathRequest.PathStart, pathRequest.PathEnd);
succes = true;
return(new NodePath(nodeNetwork.DefinitionNodeNetwork.NodeArray, path, nodeNetwork.DefinitionNodeNetwork.Transformer));
}
succes = false;
return(NodePath.GetEmptyPath(nodeNetwork, pathRequest.PathStart));
}
public WaypointPath FindPath(IPathfindNodeNetwork <DijkstraNode> nodeNetwork, IPathRequest pathRequest)
{
if (pathRequest.PathStart == pathRequest.PathEnd)
{
return(GetDefaultPath(nodeNetwork, pathRequest));
}
var pathfindingNetwork = nodeNetwork.GetCollisionLayerNetwork(pathRequest.CollisionCategory);
if (!(pathfindingNetwork[pathRequest.PathStart].Clearance >= pathRequest.AgentSize) || !(pathfindingNetwork[pathRequest.PathEnd].Clearance >= pathRequest.AgentSize))
{
return(null);
}
Start(pathfindingNetwork, nodeNetwork.DefinitionNodeNetwork.NodeArray, pathRequest.PathStart, pathRequest.PathEnd, pathRequest.AgentSize, pathRequest.CollisionCategory);
if (Step(-1))
{
var path = GetPath();
return(new WaypointPath(nodeNetwork.DefinitionNodeNetwork.NodeArray, path, nodeNetwork.DefinitionNodeNetwork.Transformer));
}
return(null);
}