public bool FoundPath(Vector2 checkFromPosition, Vector2 checkToPosition, Vector2 moveDirection)
{
var obstacle = ObstacleHelper.GetObstacle(checkFromPosition, checkToPosition);
if (BoundaryHelper.ContainedInObstacleCollider(checkToPosition) || BoundaryHelper.TargetLocationEndsInsideObstacle(checkToPosition))
{
checkToPosition = BoundaryHelper.FindPositionThroughObstacle(checkToPosition, checkFromPosition);
}
checkToPosition += moveDirection * 5f;
if (obstacle == null)
{
return(false);
}
TargetLocationOnceFinishedWithObstaclePath = checkToPosition;
PointBeforeStartingObstaclePath = checkFromPosition;
var adjustedPointToCheckClosestToStart = checkFromPosition;
var closestPointToStart = obstacle.FindClosestPointOnSegmentFromProjectedPoint(adjustedPointToCheckClosestToStart);
while (closestPointToStart == null)
{
adjustedPointToCheckClosestToStart += moveDirection * StepTowardsObstacleSide;
closestPointToStart = obstacle.FindClosestPointOnSegmentFromProjectedPoint(adjustedPointToCheckClosestToStart);
}
var adjustedPointToCheckClosestToEnd = checkToPosition;
var closestPointToEnd = obstacle.FindClosestPointOnSegmentFromProjectedPoint(adjustedPointToCheckClosestToEnd);
while (closestPointToEnd == null)
{
adjustedPointToCheckClosestToEnd -= moveDirection * StepTowardsObstacleSide;
closestPointToEnd = obstacle.FindClosestPointOnSegmentFromProjectedPoint(adjustedPointToCheckClosestToEnd);
}
_currentObstaclePath = obstacle.BestPath(closestPointToStart, closestPointToEnd, checkToPosition);
return(_currentObstaclePath != null && _currentObstaclePath.Count > 0);
}
public Queue <IUnit> GetIntersectionsRelativeTo(IUnit firstUnit)
{
var possibleIntersections = new List <IUnit>();
var firstStartCheckPoint = firstUnit.Transform.position;
foreach (var unit in _units)
{
if (unit == firstUnit ||
unit == null ||
!BoundaryHelper.OnScreen(unit.Transform.position) ||
unit.Transform.gameObject.activeInHierarchy == false ||
unit.KillHandler.KillPoint.HasValue ||
unit.AngleDefinition.IntersectionPoint != Vector2.zero && BoundaryHelper.ContainedInObstacleCollider(unit.AngleDefinition.IntersectionPoint))
{
continue;
}
var firstRearCheckPoint = firstUnit.AngleDefinition.RearPointRelative;
var rearPoint = unit.AngleDefinition.RearPointRelative;
var forwardPoint = unit.AngleDefinition.ForwardPointRelative;
if (IntersectionMaths.IsIntersecting(firstStartCheckPoint, firstRearCheckPoint, rearPoint, forwardPoint))
{
var intersect = IntersectionMaths.FindIntersection(firstStartCheckPoint, firstRearCheckPoint,
rearPoint, forwardPoint);
if (intersect != null)
{
var directionThroughKillPoint =
(unit.KillHandler.GetFauxKillPoint() - (Vector2)unit.Transform.position).normalized;
if (possibleIntersections.Any(t => Vector2.Distance(intersect.Value, t.AngleDefinition.IntersectionPoint) < 1f))
{
continue;
}
if (!NodeGrid.Instance.NodeFromWorldPosition(intersect.Value).IsWalkable ||
!BoundaryHelper.OnScreen(intersect.Value) ||
BoundaryHelper.ContainedInObstacleCollider(intersect.Value))
{
continue;
}
if (Vector2.Distance(unit.Transform.position, intersect.Value) < 2f ||
Vector2.Distance(unit.Transform.position, firstStartCheckPoint) < 1f ||
Vector2.Distance(firstUnit.Transform.position, intersect.Value) < 1f)
{
continue;
}
unit.AngleDefinition.SetIntersectionPoint(intersect.Value);
possibleIntersections.Add(unit);
}
}
}
if (possibleIntersections.Count <= 0)
{
return(null);
}
var orderedIntersections = possibleIntersections.OrderBy(t =>
Vector2.Distance(firstStartCheckPoint, t.AngleDefinition.IntersectionPoint));
var intersectOrder = new Queue <IUnit>();
for (var i = 0; i < orderedIntersections.Count(); i++)
{
intersectOrder.Enqueue(orderedIntersections.ElementAt(i));
}
return(intersectOrder.Count > 0 ? intersectOrder : null);
}
