+ astar project

1 files changed, 150 insertions, 0 deletions

diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Pathfinders/FloodPathTracer.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Pathfinders/FloodPathTracer.cs
new file mode 100644
index 0000000..b743983
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Pathfinders/FloodPathTracer.cs
@@ -0,0 +1,150 @@
+using UnityEngine;
+
+namespace Pathfinding {
+	/// <summary>
+	/// Restrict suitable nodes by if they have been searched by a FloodPath.
+	///
+	/// Suitable nodes are in addition to the basic contraints, only the nodes which return true on a FloodPath.HasPathTo (node) call.
+	/// See: Pathfinding.FloodPath
+	/// See: Pathfinding.FloodPathTracer
+	/// </summary>
+	public class FloodPathConstraint : NNConstraint {
+		readonly FloodPath path;
+
+		public FloodPathConstraint (FloodPath path) {
+			if (path == null) { Debug.LogWarning("FloodPathConstraint should not be used with a NULL path"); }
+			this.path = path;
+		}
+
+		public override bool Suitable (GraphNode node) {
+			return base.Suitable(node) && path.HasPathTo(node);
+		}
+	}
+
+	/// <summary>
+	/// Traces a path created with the Pathfinding.FloodPath.
+	///
+	/// See Pathfinding.FloodPath for examples on how to use this path type
+	///
+	/// [Open online documentation to see images]
+	/// </summary>
+	public class FloodPathTracer : ABPath {
+		/// <summary>Reference to the FloodPath which searched the path originally</summary>
+		protected FloodPath flood;
+
+		protected override bool hasEndPoint => false;
+
+		/// <summary>
+		/// Default constructor.
+		/// Do not use this. Instead use the static Construct method which can handle path pooling.
+		/// </summary>
+		public FloodPathTracer () {}
+
+		public static FloodPathTracer Construct (Vector3 start, FloodPath flood, OnPathDelegate callback = null) {
+			var p = PathPool.GetPath<FloodPathTracer>();
+
+			p.Setup(start, flood, callback);
+			return p;
+		}
+
+		protected void Setup (Vector3 start, FloodPath flood, OnPathDelegate callback) {
+			this.flood = flood;
+
+			if (flood == null || flood.PipelineState < PathState.Returning) {
+				throw new System.ArgumentException("You must supply a calculated FloodPath to the 'flood' argument");
+			}
+
+			base.Setup(start, flood.originalStartPoint, callback);
+			nnConstraint = new FloodPathConstraint(flood);
+		}
+
+		protected override void Reset () {
+			base.Reset();
+			flood = null;
+		}
+
+		/// <summary>
+		/// Initializes the path.
+		/// Traces the path from the start node.
+		/// </summary>
+		protected override void Prepare () {
+			if (!this.flood.IsValid(pathHandler.nodeStorage)) {
+				FailWithError("The flood path is invalid because nodes have been destroyed since it was calculated. Please recalculate the flood path.");
+				return;
+			}
+
+			base.Prepare();
+
+			if (CompleteState == PathCompleteState.NotCalculated) {
+				for (uint i = 0; i < pathHandler.numTemporaryNodes; i++) {
+					var nodeIndex = pathHandler.temporaryNodeStartIndex + i;
+					ref var tempNode = ref pathHandler.GetTemporaryNode(nodeIndex);
+					if (tempNode.type == TemporaryNodeType.Start) {
+						var node = pathHandler.GetNode(tempNode.associatedNode);
+
+						// This is guaranteed by the FloodPathConstraint
+						bool found = false;
+						for (uint k = 0; k < node.PathNodeVariants; k++) {
+							if (flood.GetParent(node.NodeIndex + k) != 0) {
+								found = true;
+								CompleteState = PathCompleteState.Complete;
+								Trace(node.NodeIndex + k);
+								break;
+							}
+						}
+						if (!found) {
+							FailWithError("The flood path did not contain any information about the end node. Have you modified the path's nnConstraint to an instance which does not subclass FloodPathConstraint?");
+						}
+						return;
+					}
+				}
+
+				FailWithError("Could not find a valid start node");
+			}
+		}
+
+		protected override void CalculateStep (long targetTick) {
+			if (CompleteState != PathCompleteState.Complete) throw new System.Exception("Something went wrong. At this point the path should be completed");
+		}
+
+		/// <summary>
+		/// Traces the calculated path from the start node to the end.
+		/// This will build an array (<see cref="path)"/> of the nodes this path will pass through and also set the <see cref="vectorPath"/> array to the <see cref="path"/> arrays positions.
+		/// This implementation will use the <see cref="flood"/> (FloodPath) to trace the path from precalculated data.
+		/// </summary>
+		protected override void Trace (uint fromPathNodeIndex) {
+			uint pathNodeIndex = fromPathNodeIndex;
+			int count = 0;
+
+			while (pathNodeIndex != 0) {
+				if ((pathNodeIndex & FloodPath.TemporaryNodeBit) != 0) {
+					// Skip over temporary nodes
+					pathNodeIndex = flood.GetParent(pathNodeIndex & ~FloodPath.TemporaryNodeBit);
+				} else {
+					var node = pathHandler.GetNode(pathNodeIndex);
+					if (node == null) {
+						FailWithError("A node in the path has been destroyed. The FloodPath needs to be recalculated before you can use a FloodPathTracer.");
+						return;
+					}
+					if (!CanTraverse(node)) {
+						FailWithError("A node in the path is no longer walkable. The FloodPath needs to be recalculated before you can use a FloodPathTracer.");
+						return;
+					}
+					path.Add(node);
+					vectorPath.Add((Vector3)node.position);
+					var next = flood.GetParent(pathNodeIndex);
+					if (next == pathNodeIndex) {
+						break;
+					}
+					pathNodeIndex = next;
+				}
+
+				count++;
+				if (count > 10000) {
+					Debug.LogWarning("Infinite loop? >10000 node path. Remove this message if you really have that long paths");
+					break;
+				}
+			}
+		}
+	}
+}