private void EnterAStar()
{
if (pathfindingMode == PathfindingMode.AStar)
{
return;
}
if (pathfindingMode == PathfindingMode.Passive)
{
GridPathfinding.instance.HandleMobEnteredCombat();
}
/*
* if (GridPathfinding.instance.IsUsingPathfindingOptimization())
* {
* if (!PathfindingOptimization.instance.AbleToRegisterPathfindingMob())
* {
* pathfindingMode = PathfindingMode.Follow;
* return;
* }
* }
*/
pathfindingMode = PathfindingMode.AStar;
StopAllCoroutines();
StartCoroutine(GoAlongPathCoroutine());
if (!walkingSFX.isPlaying)
{
walkingSFX.Play();
}
}
private void AdjustPathfindingMode()
{
if (pathfindingMode == PathfindingMode.Passive)
{
if (Vector3.Distance(mobRbody.position, PlayerCharacter.instance.transform.position) < engageCombatProximityNonWall)
{
if (!IsWallBetweenPositions(mobRbody.position, PlayerCharacter.instance.transform.position))
{
EnterAStar();
}
else
{
if (Vector3.Distance(mobRbody.position, PlayerCharacter.instance.transform.position) < engageCombatProximityThroughWall)
{
EnterAStar();
}
}
}
}
else
{
if (!IsWallInProximity(changeToFollowWallProximity))
{
/*
* if(GridPathfinding.instance.IsUsingPathfindingOptimization())
* {
* if (pathfindingMode == PathfindingMode.AStar)
* {
* PathfindingOptimization.instance.UnregisterPathfindingMob();
* }
* }
*/
pathfindingMode = PathfindingMode.Follow;
}
else
{
EnterAStar();
}
}
}
public static LinkedList <Tile> AStar(Character who, Tile target, TSession map, PathfindingMode mode)
{
InitializeOpenSetIfNecessary(map);
pathfindingSearchId++;
Tile start = who.Occupies;
if (target == null)
{
return(null);
}
Tile closestToTargetSoFar = start;
openSet.Clear();
int initH = Pathfinding.Heuristic(start, target);
SetPathfindingInformation(start, pathfindingSearchId, false, 0, initH, null);
openSet.Enqueue(start, initH);
int closestToTargetHeuristicSoFar = initH;
while (openSet.Count > 0)
{
Tile current = openSet.Dequeue();
if (current == target)
{
return(ReconstructPrettyPath(start, target));
}
current.Pathfinding_Closed = true;
foreach (var neighbour in current.Neighbours) // TODO change to traversable neighbours
{
// Tile neighbour = edge.Destination;
if (neighbour.Pathfinding_EncounteredDuringSearch == pathfindingSearchId &&
neighbour.Pathfinding_Closed)
{
continue;
}
if (neighbour.BlocksMovement)
{
continue;
}
if (neighbour.Pathfinding_EncounteredDuringSearch < pathfindingSearchId)
{
SetPathfindingInformation(neighbour, pathfindingSearchId, false, int.MaxValue, int.MaxValue, current);
openSet.Enqueue(neighbour, int.MaxValue);
}
int tentativeGScore = current.Pathfinding_G + (IsDiagonal(current, neighbour) ? 14 : 10);
if (tentativeGScore >= neighbour.Pathfinding_G)
{
continue;
}
neighbour.Pathfinding_Parent = current;
neighbour.Pathfinding_G = tentativeGScore;
int heuristic = Heuristic(neighbour, target);
neighbour.Pathfinding_F = neighbour.Pathfinding_G + heuristic;
openSet.UpdatePriority(neighbour, neighbour.Pathfinding_F);
if (heuristic < closestToTargetHeuristicSoFar)
{
closestToTargetSoFar = neighbour;
closestToTargetHeuristicSoFar = heuristic;
}
}
}
if (mode == PathfindingMode.FindClosestIfDirectIsImpossible)
{
return(ReconstructPrettyPath(start, closestToTargetSoFar));
}
return(null);
}