public override bool Update(ref PathFinderMove move)
{
if (!SpatialGraphManager.Instance.IsInPathableSpace(CurrentPosition))
{
SetNewState(PathFinder.MoveState.StartRecover);
return true;
}
//find path
List<Vector2> path = CurrentPath;
path.Clear();
bool retVal = SpatialGraphManager.Instance.GetPath(CurrentPosition, CurrentDestination, ref path);
if( retVal )
{
move.LastResult = PathFinder.MoveResult.PathFound;
CurrentPathIndex = 0;
SetNewState( PathFinder.MoveState.Follow );
//Keep ticking
return true;
}
else
{
move.LastResult = PathFinder.MoveResult.PathNotFound;
}
//We're done if path failed
return false;
}
public override bool Update(ref PathFinderMove move)
{
//Make sure we can keep heading to our current subgoal
List<Vector2> currentPath = CurrentPath;
int currentPathIndex = CurrentPathIndex;
//has the destination changed
Vector2 vDest = currentPath[currentPath.Count-1];
if( vDest == CurrentDestination )
{
if( SpatialGraphManager.Instance.CanGo( CurrentPosition, currentPath[currentPathIndex] ) )
{
SetNewState( PathFinder.MoveState.Follow );
return true;
}
else if (!SpatialGraphManager.Instance.CanGo(CurrentPosition, CurrentPosition))
{
//are we blocked
SetNewState( PathFinder.MoveState.Recover );
return true;
}
}
//otherwise, try again
SetNewState(PathFinder.MoveState.Start);
return true;
}
public void FindNextMove(ref Vector2 from, ref Vector2 to, float arrivalDist, ref PathFinderMove move)
{
_currentPos = from;
_currentDest = to;
_arrivalDist = arrivalDist;
move.LastResult = MoveResult.PathFound;
while (true)
{
if (!GetCurrentState().Update(ref move))
break;
}
}
public override bool Update(ref PathFinderMove move)
{
//are we back in pathable space?
if( SpatialGraphManager.Instance.IsInPathableSpace( CurrentPosition ) )
{
SetNewState( PathFinder.MoveState.Follow );
return true;
}
List<Vector2> currentPath = CurrentPath;
int currentPathIndex = CurrentPathIndex;
//otherwise, head toward our current pathnode
move.MoveDir = Vector2.Normalize( currentPath[currentPathIndex] - CurrentPosition );
return false;
}
public override bool Update(ref PathFinderMove move)
{
//check our current path index
const int iLookAheadCount = 3;
List<Vector2> currentPath = CurrentPath;
int nextPathIndex = CurrentPathIndex;
//Are we at our goal index
if( nextPathIndex == currentPath.Count - 1 )
{
move.NextSubgoalPos = currentPath[nextPathIndex];
//check distance to goal
float sqDist = Vector2.DistanceSquared( CurrentPosition, move.NextSubgoalPos );
float arrivalDistSq = CurrentArrivalDist;
arrivalDistSq *= arrivalDistSq;
if( sqDist <= arrivalDistSq )
{
//don't set move dir (we've arrived)
move.LastResult = PathFinder.MoveResult.Arrived;
SetNewState( PathFinder.MoveState.Validate );
return false;
}
}
else
{
//otherwise, see if we can advance our next subgoal
for( int i = 0 ; i < iLookAheadCount && (nextPathIndex+1) < currentPath.Count; i++ )
{
if (SpatialGraphManager.Instance.CanGo(CurrentPosition, currentPath[nextPathIndex + 1]))
{
++nextPathIndex;
}
}
CurrentPathIndex = nextPathIndex;
move.NextSubgoalPos = currentPath[nextPathIndex];
}
//Move dir is normalized towards next subgoal
move.MoveDir = Vector2.Normalize( move.NextSubgoalPos - CurrentPosition );
//we're done this round
SetNewState( PathFinder.MoveState.Validate );
return false;
}
public override bool Update(ref PathFinderMove move)
{
//are we back in pathable space?
if( SpatialGraphManager.Instance.IsInPathableSpace( CurrentPosition ) )
{
SetNewState( PathFinder.MoveState.Start );
return true;
}
//find the nearest non-blocked neighbor I can move to
Vector2 vGoTo;
if( SpatialGraphManager.Instance.FindNearestNonBlocked( CurrentPosition, out vGoTo) )
{
move.MoveDir = Vector2.Normalize( vGoTo - CurrentPosition );
}
else
{
move.LastResult = PathFinder.MoveResult.PathNotFound;
}
return false;
}
public abstract bool Update(ref PathFinderMove move);
