private void FindPath()
{
TileNavGraph graph = TileNavGraph.Instance;
OpenList.Add(origin);
Node node = GetTargetedNode();
int securityNb = 10000;
while (node != null && securityNb != 0)
{
if (Path.IndexOf(node) != -1)
{
break;
}
securityNb--;
Path.Add(node);
node = node.parent;
}
if (securityNb == 0)
{
Debug.LogError("No Path Found ...");
}
Path.Reverse();
Reset();
TileNavGraph.Instance.GuizmoPath = Path;
TileNavGraph.Instance.OpenList = OpenList;
TileNavGraph.Instance.ClosedList = ClosedList;
onPathFound();
}
public List <Connection> FindPath(Vector3 pos)
{
if (pos == transform.position)
{
return(null);
}
TileNavGraph graph = TileNavGraph.Instance;
if (graph == null)
{
return(null);
}
targetNode = graph.GetNode(pos);
if (targetNode == null || targetNode.Weight == graph.UnreachableCost)
{
return(null);
}
startNode = graph.GetNode(transform.position);
ComputePathfinding(targetNode);
return(path);
}
private void ComputePathfinding(Node target)
{
NodeRecord goal = new NodeRecord(target);
TileNavGraph graph = TileNavGraph.Instance;
NodeRecord start = new NodeRecord(startNode);
openList.Add(start);
NodeRecord currentNode = null;
while (openList.Count > 0)
{
if (openList.Count > 1)
{
openList = openList.OrderBy(o => o.estimatedTotalCost).ToList();
}
currentNode = openList[0];
closedList.Add(currentNode);
openList.Remove(currentNode);
if (currentNode.node == goal.node)
{
break;
}
foreach (Connection connection in graph.ConnectionsGraph[currentNode.node])
{
Node nextNode = connection.ToNode;
NodeRecord nextNodeRecord = closedList.Find(o => o.node == nextNode);
if (nextNodeRecord == null)
{
float nextNodeCost = currentNode.costSoFar + connection.Cost;
nextNodeRecord = openList.Find(o => o.node == nextNode);
if (nextNodeRecord == null)
{
NodeRecord record = new NodeRecord(nextNode);
record.costSoFar = nextNodeCost;
record.estimatedTotalCost = record.costSoFar + EstimateDistance(nextNode.Position, goal.node.Position);
record.connection = connection;
openList.Add(record);
}
else if (nextNodeRecord.costSoFar > nextNodeCost)
{
nextNodeRecord.costSoFar = nextNodeCost;
nextNodeRecord.estimatedTotalCost = nextNodeRecord.costSoFar + EstimateDistance(nextNode.Position, goal.node.Position);
nextNodeRecord.connection = connection;
}
}
}
}
openList.Clear();
RetracePath(start, currentNode);
}
public void SearchPath(Vector3 beginPos, Vector3 targetPos, Steering.OnPathFoundHandler onPathFoundEvent)
{
TileNavGraph graph = TileNavGraph.Instance;
origin = graph.GetNode(beginPos);
target = graph.GetNode(targetPos);
if (origin == null || target == null)
{
return;
}
OpenList.Clear();
ClosedList.Clear();
Path.Clear();
onPathFound = onPathFoundEvent;
PathThread = new Thread(new ThreadStart(FindPath));
PathThread.Start();
}