private void CreateAdjacentNodesConnections(Nav2dCell cell)
{
var cells = new Dictionary <string, Nav2dCell> {
{ "leftDown", FindNavCellAtPosition(cell.gridPos + new Vector3Int(-1, -1, 0)) },
{ "leftTop", FindNavCellAtPosition(cell.gridPos + new Vector3Int(-1, 1, 0)) }, // left down
{ "left", FindNavCellAtPosition(cell.gridPos + new Vector3Int(-1, 0, 0)) }, // left
{ "top", FindNavCellAtPosition(cell.gridPos + new Vector3Int(0, 1, 0)) }, // top
{ "down", FindNavCellAtPosition(cell.gridPos + new Vector3Int(0, -1, 0)) }, // down
{ "right", FindNavCellAtPosition(cell.gridPos + new Vector3Int(1, 0, 0)) },
{ "rightTop", FindNavCellAtPosition(cell.gridPos + new Vector3Int(1, 1, 0)) },
{ "rightDown", FindNavCellAtPosition(cell.gridPos + new Vector3Int(1, -1, 0)) }
};
// table of nodes to test connection
Nav2dNode[] centerNodeNeighbors = new Nav2dNode[9] {
cell.getNode(-1, -1),
cells["left"]?.getNode(0, 0),
cells["top"]?.getNode(-1, -1),
cells["down"]?.getNode(0, 0),
null,
cells["top"]?.getNode(0, 0),
cells["right"]?.getNode(-1, -1),
cells["right"]?.getNode(0, 0),
cells["rightTop"]?.getNode(-1, -1)
};
//sets connection two ways
cell.getNode(0, 0).setAccessibility(centerNodeNeighbors, LayerMask.GetMask(collisionLayers));
Nav2dNode[] northWestNodeNeighbors = new Nav2dNode[9] {
cells["leftDown"]?.getNode(0, 0),
cells["left"]?.getNode(-1, -1),
cells["left"]?.getNode(0, 0),
cells["down"]?.getNode(-1, -1),
null,
cells["top"]?.getNode(-1, -1),
cells["down"]?.getNode(0, 0),
cells["right"]?.getNode(-1, -1),
cell.getNode(0, 0)
};
//sets connection two ways
cell.getNode(-1, -1).setAccessibility(northWestNodeNeighbors, LayerMask.GetMask(collisionLayers));
}
public Nav2dNode findClosestAccessibleNodeInGrid(Vector3Int cellPos, Vector3 targetPos)
{
Nav2dNode node = null;
C5.HashSet <Vector3Int> explored = new C5.HashSet <Vector3Int>();
Queue <Vector3Int> opened = new Queue <Vector3Int>();
opened.Enqueue(cellPos);
// dont try to long
for (int i = 0; i < 20; i++)
{
Vector3Int current = opened.Dequeue();
Nav2dCell cell = FindNavCellAtPosition(current);
node = cell?.findClosestAccessibleNodeInCell(targetPos);
if (node != null)
{
break;
}
explored.Add(current);
Vector3Int[] neighbors =
{
current + new Vector3Int(0, 1, 0),
current + new Vector3Int(0, -1, 0),
current + new Vector3Int(-1, 0, 0),
current + new Vector3Int(1, 0, 0)
};
foreach (var n in neighbors)
{
if (!explored.Contains(n))
{
opened.Enqueue(n);
}
}
}
return(node);
}
