/// <summary>
/// Recostract path base on direction changing
/// </summary>
public List <Vector2> RecreatePath(Dictionary <Vector3Int, Node> cameFrom, Node start, Node goal, NavGrid navGrid)
{
var path = new List <Vector2>();
var current = goal;
Vector2 currentDirection = Vector2.zero;
path.Add(navGrid.IndexToPosition(current.position));
while (current.position != start.position)
{
var currentPosition = navGrid.IndexToPosition(current.position);
if (cameFrom.TryGetValue(new Vector3Int(current.x, current.y, current.jumpCost), out current))
{
var nodeCenterPosition = navGrid.IndexToPosition(current.position);
var newDirection = nodeCenterPosition - currentPosition;
if (currentDirection != newDirection)
{
path.Add(nodeCenterPosition);
currentDirection = newDirection;
}
else
{
path[path.Count - 1] = nodeCenterPosition;
}
}
else
{
Debug.LogError("Data for path reconstration was incorrect");
return(null);
}
}
path.Reverse();
return(path);
}
public void GenerateMap()
{
navGrid.Init(width, height, offset, cellSize);
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
var hit = Physics2D.BoxCast(navGrid.IndexToPosition(new Vector2Int(x, y)), Vector2.one * navGrid.CellSize * precision, 0, Vector2.zero, 0, collisonLayer);
var nodeType = hit.collider ? NavGrid.NodeType.wall : NavGrid.NodeType.free;
navGrid.SetNode(x, y, nodeType);
}
}
}
public void SetSerachTiles(Dictionary <Vector3Int, Node> cameFrom, NavGrid navGrid)
{
#if UNITY_EDITOR
serachPoints.Clear();
if (cameFrom != null)
{
serachPoints.AddRange(cameFrom.Values.ToList().ConvertAll(node => node == null ? default : navGrid.IndexToPosition(node.position)));
cellSize = navGrid.CellSize;
}
#endif
}
