public void Set(PathPlanParams planParams, Pool <PathPlanner> .Node pathPlanner, IPathAgent agent)
{
m_pathPlanParams = planParams;
m_pathPlanner = pathPlanner;
m_replanTimeRemaining = planParams.ReplanInterval;
m_agent = agent;
}
public bool RequestPath(PathPlanParams pathPlanParams)
{
if ( !m_bInitialized )
{
return false;
}
m_pathManager.RemoveRequest(m_query);
m_query = m_pathManager.RequestPathPlan(pathPlanParams, this);
if ( m_query == null )
{
return false;
}
return true;
}
public bool MoveToGameObject(GameObject gameObject, float replanInterval)
{
NavTargetGameObject navTargetGameObject = new NavTargetGameObject(gameObject, PathTerrain);
PathPlanParams planParams = new PathPlanParams(transform.position, navTargetGameObject, replanInterval);
return m_pathAgent.RequestPath(planParams);
}
public bool MoveToPosition(Vector3 targetPosition, float replanInterval)
{
NavTargetPos navTargetPos = new NavTargetPos(targetPosition, PathTerrain);
PathPlanParams planParams = new PathPlanParams(transform.position, navTargetPos, replanInterval);
return m_pathAgent.RequestPath(planParams);
}
public IPathRequestQuery RequestPathPlan(PathPlanParams pathPlanParams, IPathAgent agent)
{
if ( !m_bInitialized )
{
UnityEngine.Debug.LogError("PathManagerComponent isn't yet fully intialized. Wait until Start() has been called. Can't call RequestPathPlan.");
return null;
}
if ( m_requestPool.Count == 0 )
{
UnityEngine.Debug.Log("RequestPathPlan failed because it is already servicing the maximum number of requests: " +
m_maxNumberOfPlanners.ToString());
return null;
}
if ( m_pathPlannerPool.AvailableCount == 0 )
{
UnityEngine.Debug.Log("RequestPathPlan failed because it is already servicing the maximum number of path requests: " +
m_maxNumberOfPlanners.ToString());
return null;
}
// Clamp the start and goal positions within the terrain space, and make sure they are on the floor.
pathPlanParams.UpdateStartAndGoalPos( m_terrain.GetValidPathFloorPos(pathPlanParams.StartPos) );
// Make sure this agent does not have an active request
if ( m_activeRequests.Count > 0 )
{
foreach ( PathRequest pathRequest in m_activeRequests )
{
if ( pathRequest.Agent.GetHashCode() == agent.GetHashCode() )
{
System.Diagnostics.Debug.Assert(false, "Each agent can only have one path request at a time.");
return null;
}
}
}
// Make sure this agent does not have a completed request
if ( m_activeRequests.Count > 0 )
{
foreach ( PathRequest pathRequest in m_completedRequests )
{
if ( pathRequest.Agent.GetHashCode() == agent.GetHashCode() )
{
System.Diagnostics.Debug.Assert(false, "Each agent can only have one path request at a time.");
return null;
}
}
}
// Create the new request
Pool<PathPlanner>.Node pathPlanner = m_pathPlannerPool.Get();
PathRequest request = m_requestPool.Dequeue();
request.Set(pathPlanParams, pathPlanner, agent);
m_activeRequests.AddFirst(request);
// Start the request
int startNodeIndex = m_terrain.GetPathNodeIndex(pathPlanParams.StartPos);
int goalNodeIndex = m_terrain.GetPathNodeIndex(pathPlanParams.GoalPos);
pathPlanner.Item.StartANewPlan(startNodeIndex, goalNodeIndex);
return request;
}
