Fix for when end point is unreachable. Find closest reachable point

Assets/Scenes/NavigationTest.shade

@@ -261,7 +261,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 8.5, y: -1, z: -8.20610714}
+      Translate: {x: 8.5, y: -1, z: -6.41661787}
       Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 5, y: 5, z: 5}
       IsActive: true
@@ -274,7 +274,7 @@
       Forward: {x: 0, y: 0, z: 0}
       Recalculate Path: true
       Unreachable Target: false
-      Acceptance threshold: 0.100000001
+      Acceptance threshold: 1
       IsActive: true
   Scripts:
     - Type: SHADE_Scripting.Gameplay.AIBehaviour.AIRework.NavigationTestScript
@@ -287,7 +287,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: -0.940230131, y: -1, z: -2.05140448}
+      Translate: {x: -0.853474855, y: -1, z: 0.354041398}
       Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 5, y: 5, z: 5}
       IsActive: true

Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs

@@ -0,0 +1,38 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using SHADE;
+
+namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework
+{
+    public abstract class BaseState
+    {
+        protected string stateName = "Base State";
+        protected StateMachine machine;
+
+        protected BaseState(StateMachine stateMachine)
+        {
+            machine = stateMachine;
+        }
+
+        public virtual void OnEnter()
+        {
+
+        }
+
+        public abstract void Update();
+
+        public virtual void OnExit()
+        {
+
+        }
+
+
+        public string GetStateName()
+        {
+            return stateName;
+        }
+    }
+}

Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs.shmeta

@@ -0,0 +1,3 @@
+Name: BaseState
+ID: 167091082
+Type: 9

Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs

@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using SHADE;
+
+namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework
+{
+    public class HomeOwnerAI:Script
+    {
+
+
+
+
+    }
+}

Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs.shmeta

@@ -0,0 +1,3 @@
+Name: HomeOwnerAI
+ID: 162553450
+Type: 9

Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs

@@ -4,30 +4,45 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using SHADE;
-using static System.IO.Enumeration.FileSystemEnumerable<TResult>;
 
 namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework
 {
+
+    
+
     public class NavigationTestScript :Script
     {
         public GameObject endPoint;
 
         public float speed = 1.0f;
+        float timer = 0.0f;
 
         protected override void start()
         {
 
+            Navigation nav = GetComponent<Navigation>();
+            Transform endTransform = endPoint.GetComponent<Transform>();
+            if (endTransform)
+                nav.MoveTo(endTransform.GlobalPosition);
         }
 
         protected override void update()
         {
+            timer += Time.DeltaTimeF;
             Navigation nav = GetComponent<Navigation>();
             Transform transform = GetComponent<Transform>();
+            if (timer >= 1.0f)
+            {
+                timer = 0.0f;
+                
+                Transform endTransform = endPoint.GetComponent<Transform>();
+                if (endTransform)
+                    nav.MoveTo(endTransform.GlobalPosition);
+            }
+
+
             if (nav && transform)
             {
-                Transform endTransform = endPoint.GetComponent<Transform>();
-                if(endTransform)
-                    nav.MoveTo(endTransform.GlobalPosition);
                 transform.LocalPosition = transform.LocalPosition + ( nav.GetForward() * Time.DeltaTimeF * speed);
 
             }

Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs

@@ -0,0 +1,80 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using SHADE;
+
+
+namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework
+{
+    public class StateMachine: Script
+    {
+        private Dictionary<Type, BaseState> stateDictionary;
+        public BaseState currentState = null;
+        public string currentStateName;
+        
+        public void InitStateMachine(Dictionary<Type,BaseState> dictionary)
+        {
+            stateDictionary = dictionary;
+            currentState = stateDictionary.First().Value;
+            currentStateName = currentState.GetStateName();
+            currentState.OnEnter();
+        }
+
+        public bool HasState(Type type)
+        {
+            if(!type.IsSubclassOf(typeof(BaseState)))
+            {
+                return false;
+            }
+            else
+            {
+                return stateDictionary.ContainsKey(type);
+            }
+        }
+        public void SetState(Type type)
+        {
+            if (!type.IsSubclassOf(typeof(BaseState)))
+            {
+                return;
+            }
+
+
+            if (stateDictionary.ContainsKey(type))
+            {
+                currentState.OnExit();
+                currentState = stateDictionary[type];
+                currentState.OnEnter();
+            }
+            else
+            {
+                SetState(stateDictionary.First().Key);
+            }
+        }
+
+        public BaseState GetState(Type type)
+        {
+            if (!stateDictionary.ContainsKey(type))
+                return null;
+
+            return stateDictionary[type];
+        }
+
+        protected override void update()
+        {
+            if(currentState != null)
+            {
+                currentStateName = currentState.GetStateName().ToString();
+                currentState.Update();
+            }
+        }
+
+        public bool IsState(Type type)
+        {
+            return (currentState.GetType() == type);
+        }
+
+
+    }
+}

Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs.shmeta

@@ -0,0 +1,3 @@
+Name: StateMachine
+ID: 165140157
+Type: 9

Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs

@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using SHADE;
+
+namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States
+{
+    public class IdleState: BaseState
+    {
+
+        float idleDuration = 1.0f;
+
+        public IdleState(StateMachine machine, float idleDuration): base(machine)
+        {
+            stateName = "Idle State";
+        }
+
+
+        public override void Update()
+        {
+            
+        }
+
+    }
+}

Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs.shmeta

@@ -0,0 +1,3 @@
+Name: IdleState
+ID: 164902316
+Type: 9

SHADE_Engine/src/Navigation/SHNavigationSystem.cpp

@@ -337,13 +337,13 @@ namespace SHADE
 
     //Check if ending position is set to true in navigation data.
     NavigationGridIndex endIndex = GetNavigationGridIndex(comp.target);
-    if (GetNavigationData(endIndex) == true)
+    //if (GetNavigationData(endIndex) == true)
-    {
+    //{
-      //Target position is unreachable.
+    //  //Target position is unreachable.
-      SHLOG_WARNING("Navigation System: GeneratePath() target position is unreachable EID: {}", comp.GetEID())
+    //  SHLOG_WARNING("Navigation System: GeneratePath() target position is unreachable EID: {}", comp.GetEID())
-      comp.unreachableTarget = true;
+    //  comp.unreachableTarget = true;
-      return;
+    //  return;
-    }
+    //}
 
     auto transform = SHComponentManager::GetComponent<SHTransformComponent>(comp.GetEID());
     
@@ -352,7 +352,7 @@ namespace SHADE
 
     startingNode.parent.row = NullGridIndex;
     startingNode.parent.column = NullGridIndex;
-    startingNode.h = 0;
+    startingNode.h = std::numeric_limits<uint32_t>::max();
     startingNode.g = 0;
     startingNode.f = 0;
 
@@ -516,9 +516,20 @@ namespace SHADE
     //Check if there is a path.
     if (endNode.g == std::numeric_limits<uint32_t>::max() || endNode.h == std::numeric_limits<uint32_t>::max() || endNode.f == std::numeric_limits<uint32_t>::max())
     {
-      SHLOG_WARNING("Navigation System: End Node not found after running through algo EID: {}", comp.GetEID())
+      //SHLOG_WARNING("Navigation System: End Node not found after running through algo EID: {}", comp.GetEID())
-      comp.unreachableTarget = true;
+      //comp.unreachableTarget = true;
-      return;
+      uint32_t lowestH = std::numeric_limits<uint32_t>::max();
+
+      for (std::map<NavigationGridIndex, NavigationNode>::iterator it = closedList.begin(); it != closedList.end(); ++it)
+      {
+        if (it->second.h < lowestH)
+        {
+          lowestH = it->second.h;
+          endNode = (it->second);
+        }
+      }
+
+      //return;
     }