public void StartNavigation()
{
if (m_InitStatus == NavInitStatus.INCOMPLETE)
{
Debug.Log("Starting Navigation!");
List <MDSNode> allNodes = MainController.Instance.GetNodeController().NodeObjList;
Debug.Log("Nodes: " + allNodes.Count);
MDSNode closestNode = ReturnClosestNode(allNodes, _referencePoint.position);
Debug.Log("Closest node: " + closestNode.gameObject.name);
MDSNode targetNode = MainController.Instance.GetNodeController().TargetNode;
Debug.Log("Target node: " + targetNode.NodeInfo.name);
// Set neighbor nodes for all nodes
foreach (MDSNode node in allNodes)
{
node.FindNeighbors(maxDistance);
}
// Get path from AStar algorithm
path = m_AStar.FindPath(closestNode, targetNode, allNodes);
if (path == null)
{
// Increase search distance for neighbors if none are found
maxDistance += .1f;
Debug.Log("Increasing search distance to: " + maxDistance);
StartNavigation();
return;
}
// Set next nodes
for (int i = 0; i < path.Count - 1; i++)
{
path[i].NextInList = path[i + 1];
}
// Activate the first node
path[0].Activate();
m_InitStatus = NavInitStatus.COMPLETED;
}
}
/// <summary>
/// Overloaded NavigateToTarget method that handles re-navigation to a new target using int
/// </summary>
public void NavigateToTarget(int targetIndex)
{
MainController.Instance.GetNodeController().SetTargetNode(targetIndex);
MainController.Instance.GetNodeController().DeactivateNodes();
try
{
m_InitStatus = NavInitStatus.INCOMPLETE;
StartNavigation();
}
catch (System.Exception e)
{
Debug.LogException(e);
}
}
/// <summary>
/// Method that handles re-navigation to a new target using the target name
/// </summary>
public void NavigateToTarget(string targetName)
{
foreach (MDSNode target in MainController.Instance.GetNodeController().TargetNodeObjList)
{
if (targetName == target.NodeInfo.name)
{
MainController.Instance.GetNodeController().TargetNode = target;
}
}
try
{
m_InitStatus = NavInitStatus.INCOMPLETE;
StartNavigation();
}
catch (System.Exception e)
{
Debug.LogException(e);
}
}
