private void debugBlock(SearchBlock block)
{
var color = Color.white;
switch (block.Index % 5)
{
case 0: color = Color.red; break;
case 1: color = Color.green; break;
case 2: color = Color.blue; break;
case 3: color = Color.yellow; break;
case 4: color = Color.cyan; break;
}
for (int i = 0; i < block.Count; i++)
{
debugPoint(block.Get(i), false, color);
}
foreach (var index in block.InvestigatedIndices)
{
debugPoint(_points.Points[index], !_hasPoint || index != _pointIndex, color);
}
}
private bool findBestPoint(SearchBlock block, out int pointIndex, out float pointValue)
{
var pickedIndex = -1;
var previousValue = 0f;
var previousLeft = -1;
var previousRight = -1;
if (_hasPreviousPoint)
{
var previousPoint = _points.Points[_previousPointIndex];
previousLeft = previousPoint.Left;
previousRight = previousPoint.Right;
}
for (int i = 0; i < block.Count; i++)
{
var index = block.Indices[i];
var point = block.Get(i);
var vector = _searchPosition - point.Position;
var distance = vector.magnitude;
var direction = vector / distance;
var value = distance;
if (_hasPreviousPoint && (index == previousLeft || index == previousRight))
{
value *= -1;
}
else
{
if (_hasSearchDirection)
{
value *= -Vector3.Dot(direction, _searchDirection) * 0.5f + 1.5f;
}
else
{
value *= -Vector3.Dot(direction, _actor.HeadDirection) * 0.5f + 1.5f;
}
}
if (pickedIndex < 0 || (value > 0 && value < previousValue) || (value < 0 && previousValue < 0 && value > previousValue) || (value < 0 && previousValue > 0))
{
pickedIndex = i;
previousValue = value;
}
}
pointIndex = pickedIndex;
pointValue = previousValue;
return(pointIndex >= 0);
}
private bool considerPoint(SearchBlock block, InvestigatedPoint point)
{
for (int i = 0; i < block.Count; i++)
{
if (areCloseEnough(point, block.Get(i)))
{
block.Investigate(i);
markInvestigated(point);
return(true);
}
}
return(false);
}
private void glimpse(SearchBlock block)
{
for (int i = block.Count - 1; i >= 0; i--)
{
var p = block.Get(i);
if (canBeInvestigated(p))
{
var point = new InvestigatedPoint(p.Position);
markInvestigated(point);
foreach (var friend in _friends)
{
friend.considerPoint(point);
}
block.Investigate(i);
}
}
}
