public void InitialiseNavigator(LongPathGrid longGrid)
{
if (!initialised) {
this.longPathGrid = longGrid;
this.targetPosition = target.position; //For testing
initialised = true;
}
}
public void CreateLongPathGrid(Vector3 gridCentre, Vector2 gridSize, ComputerLane computerLane)
{
if (computerLane == ComputerLane.LEFT)
leftGrid = new LongPathGrid(gridCentre, gridSize, nodeRadius, unwalkableLayer);
else {
rightGrid = new LongPathGrid(gridCentre, gridSize, nodeRadius, unwalkableLayer);
foreach (Navigator navigator in navigators)
navigator.InitialiseNavigator(rightGrid);
}
}
IEnumerator CalculatePath(Vector3 startPosition, Vector3 targetPosition, LongPathGrid longPathGrid)
{
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
GridNode startNode = longPathGrid.GetGridNodeFromWorldPoint(startPosition);
GridNode targetNode = longPathGrid.GetGridNodeFromWorldPoint(targetPosition);
if (targetNode.walkable) {
Heap<GridNode> openSet = new Heap<GridNode>(longPathGrid.MaxSize);
HashSet<GridNode> closedSet = new HashSet<GridNode>();
openSet.Add(startNode);
while(openSet.Count > 0) {
GridNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode) {
pathSuccess = true;
break;
}
foreach (GridNode neighbour in longPathGrid.GetNeighbours(currentNode)) {
if (!neighbour.walkable || closedSet.Contains(neighbour)) {
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour)) {
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if(!openSet.Contains(neighbour))
openSet.Add(neighbour);
else
openSet.UpdateItem(neighbour);
}
}
}
}
yield return null;
if (pathSuccess)
waypoints = RetracePath(startNode, targetNode);
navGridManager.FinishProcessingLongPath(waypoints,pathSuccess);
}
public static void RequestLongPath(Vector3 pathStart, Vector3 pathTarget, LongPathGrid longPathGrid, Action<Vector3,Vector3,Vector3[], bool> callback)
{
LongPathRequest newRequest = new LongPathRequest(pathStart, pathTarget, longPathGrid, callback);
instance.longPathRequestQueue.Enqueue(newRequest);
instance.TryProcessNext();
}
public LongPathRequest(Vector3 start, Vector3 target, LongPathGrid grid, Action<Vector3, Vector3, Vector3[], bool> call)
{
pathStart = start;
pathTarget = target;
longPathGrid = grid;
callback = call;
}
public void StartFindPath(Vector3 startPosition, Vector3 targetPosition, LongPathGrid longPathGrid)
{
StartCoroutine(CalculatePath(startPosition,targetPosition, longPathGrid));
}