public void Render(Minimap_Waypoint waypointAStar, int startX, int startY, int endX, int endY, int nodeSizeX, int nodeSizeY, Material pathMaterial)
{
List <Vector3> path = new List <Vector3>();
int index = waypointAStar.FindContainingNode(endX, endY);
if (index == -1 || waypointAStar.Get(index).parent == -1)
{
return;
}
path.Add(new Vector3((endX + 0.5f) * nodeSizeX, (endY + 0.5f) * nodeSizeY, 100));
while (index != -1)
{
path.Add(GetIndexCoords(waypointAStar, index, nodeSizeX, nodeSizeY));
index = waypointAStar.Get(index).parent;
}
path.Add(new Vector3((startX + 0.5f) * nodeSizeX, (startY + 0.5f) * nodeSizeY, 100));
const float cornerSharpness = 0.85f;
_lineRenderer.SetVertexCount(path.Count * 2 - 2);
_lineRenderer.SetPosition(0, path[0]);
for (int i = 1; i < path.Count - 1; ++i)
{
_lineRenderer.SetPosition(2 * i - 1, Vector3.Lerp(path[i - 1], path[i], cornerSharpness));
_lineRenderer.SetPosition(2 * i, Vector3.Lerp(path[i + 1], path[i], cornerSharpness));
}
_lineRenderer.SetPosition(path.Count * 2 - 3, path[path.Count - 1]);
_lineRenderer.sharedMaterial = pathMaterial;
}
private Vector3 GetIndexCoords(Minimap_Waypoint waypointAStar, int index, int nodeSizeX, int nodeSizeY)
{
return(new Vector3(
(waypointAStar.Get(index).x + waypointAStar.Get(index).size / 2.0f) * nodeSizeX,
(waypointAStar.Get(index).y + waypointAStar.Get(index).size / 2.0f) * nodeSizeY,
100
));
}
public int Compare(int a, int b)
{
float waypointA = (_waypointAStar.Get(a).distance + _waypointAStar.Get(a).heuristic *_heuristicWeight);
float waypointB = (_waypointAStar.Get(b).distance + _waypointAStar.Get(b).heuristic *_heuristicWeight);
if (waypointA < waypointB)
{
return(-1);
}
else if (waypointA > waypointB)
{
return(1);
}
return(0);
}
public void Render(Minimap_Waypoint waypointAStar, int startNode, int nodeCount, int nodeSizeX, int nodeSizeY, float distance, Material aStarMaterial)
{
nodeCount = Mathf.Min(nodeCount, waypointAStar.NumNodes - startNode);
const int maxVerts = 65000;
if (nodeCount * 4 > maxVerts)
{
Debug.LogError("Render tile dimensions too large: " + nodeCount + " * 4 = " + (nodeCount * 4) + " (> " + maxVerts + ")");
return;
}
Vector3[] verts = new Vector3[nodeCount * 4];
Vector2[] uvs = new Vector2[nodeCount * 4];
Color32[] colors = new Color32[nodeCount * 4];
int[] tris = new int[nodeCount * 6];
for (int i = 0; i < nodeCount; ++i)
{
int index = i + startNode;
int x0 = waypointAStar.Get(index).x *nodeSizeX;
int x1 = x0 + waypointAStar.Get(index).size *nodeSizeX;
int y0 = waypointAStar.Get(index).y *nodeSizeY;
int y1 = y0 + waypointAStar.Get(index).size *nodeSizeY;
Color32 c;
if (waypointAStar.Get(index).distance < 0.0f)
{
c = Color.clear;
}
else if (waypointAStar.Get(index).distance >= Minimap_Waypoint.INFINITY)
{
c = new Color(0.5f, 0.5f, 1.0f, 1.0f);
}
else
{
float value = Mathf.Clamp01(waypointAStar.Get(index).distance / distance);
c = new Color(1.0f, value, value, 1.0f);
}
verts[i * 4 + 0] = new Vector3(x0, y0, 0);
uvs[i * 4 + 0] = new Vector2(0, 0);
colors[i * 4 + 0] = c;
verts[i * 4 + 1] = new Vector3(x0, y1, 0);
uvs[i * 4 + 1] = new Vector2(0, 1);
colors[i * 4 + 1] = c;
verts[i * 4 + 2] = new Vector3(x1, y1, 0);
uvs[i * 4 + 2] = new Vector2(1, 1);
colors[i * 4 + 2] = c;
verts[i * 4 + 3] = new Vector3(x1, y0, 0);
uvs[i * 4 + 3] = new Vector2(1, 0);
colors[i * 4 + 3] = c;
tris[i * 6 + 0] = i * 4 + 0;
tris[i * 6 + 1] = i * 4 + 1;
tris[i * 6 + 2] = i * 4 + 2;
tris[i * 6 + 3] = i * 4 + 2;
tris[i * 6 + 4] = i * 4 + 3;
tris[i * 6 + 5] = i * 4 + 0;
}
_mesh.Clear();
_mesh.vertices = verts;
_mesh.uv = uvs;
_mesh.colors32 = colors;
_mesh.triangles = tris;
_meshFilter.sharedMesh = _mesh;
_meshRenderer.sharedMaterial = aStarMaterial;
}