bool SetMovementTargetToSearchPointAroundSearchCenter()
{
List <PathfindingNode> possibleSearchNodes = new List <PathfindingNode>();
List <PathfindingNode> neighborsToCheck = new List <PathfindingNode>();
HashSet <PathfindingNode> neighborsChecked = new HashSet <PathfindingNode>();
PathfindingNode searchCenterNode = grid.NodeAtWorldPosition(searchCenter);
float searchRadius = this.searchRadius;
if (Vector2.Distance(searchCenter, searchCenterNode.WorldPosition) > grid.GridScale)
{
searchCenter = searchCenterNode.WorldPosition;
searchRadius = Vector2.Distance(searchCenter, rigidbody.position);
}
neighborsToCheck.Add(searchCenterNode);
PathfindingNode neighborToCheck;
while (neighborsToCheck.Count > 0)
{
neighborToCheck = neighborsToCheck[0];
neighborsToCheck.RemoveAt(0);
foreach (PathfindingNode neighbor in grid.GetNeighbors(neighborToCheck))
{
if (!neighborsChecked.Contains(neighbor))
{
if (Vector2.Distance(searchCenter, neighbor.WorldPosition) <= searchRadius)
{
neighborsToCheck.Add(neighbor);
if (neighbor.IsWalkable)
{
possibleSearchNodes.Add(neighbor);
}
}
neighborsChecked.Add(neighbor);
}
}
}
if (possibleSearchNodes.Count <= 0)
{
return(false);
}
PathfindingNode searchNode = possibleSearchNodes[Random.Range(0, possibleSearchNodes.Count - 1)];
eventManager.TriggerEvent(EnemyEvents.OnSetMovementTarget, new ParamsObject(searchNode.WorldPosition));
return(true);
}
bool SetCoverTargetFromPlayerLastKnownPosition()
{
Vector2 bestCoverPoint;
List <PathfindingNode> potentialCoverNodes = new List <PathfindingNode>();
HashSet <Vector2> inProcessQueue = new HashSet <Vector2>();
Queue <PathfindingNode> nodesToProcess = new Queue <PathfindingNode>();
grid.Reset();
PathfindingNode node = grid.NodeAtWorldPosition(rigidbody.position);
node.Parent = null;
nodesToProcess.Enqueue(node);
inProcessQueue.Add(node.WorldPosition);
while (nodesToProcess.Count > 0 && Vector2.Distance(rigidbody.position, node.WorldPosition) < maxCoverSearchDistance)
{
node = nodesToProcess.Dequeue();
Quaternion left = Quaternion.AngleAxis(-7, Vector3.forward);
Quaternion right = Quaternion.AngleAxis(7, Vector3.forward);
RaycastHit2D leftRaycastHit = Physics2D.Linecast(playerLastKnownPosition, left * node.WorldPosition, sightBlockMask);
RaycastHit2D rightRaycastHit = Physics2D.Linecast(playerLastKnownPosition, right * node.WorldPosition, sightBlockMask);
if (leftRaycastHit && rightRaycastHit)
{
potentialCoverNodes.Add(node);
}
foreach (PathfindingNode neighbor in grid.GetNeighbors(node))
{
if (!inProcessQueue.Contains(neighbor.WorldPosition))
{
if (neighbor.IsWalkable)
{
neighbor.Parent = node;
nodesToProcess.Enqueue(neighbor);
inProcessQueue.Add(neighbor.WorldPosition);
}
}
}
}
float nodeDistance = 0;
float smallestNodeDistance = float.MaxValue;
PathfindingNode currNode;
bestCoverPoint = NullVector;
foreach (PathfindingNode coverNode in potentialCoverNodes)
{
currNode = coverNode;
nodeDistance = 0;
while (currNode != null)
{
if (currNode.Parent != null)
{
nodeDistance += Vector2.Distance(currNode.WorldPosition, currNode.Parent.WorldPosition);
}
currNode = currNode.Parent;
}
if (nodeDistance < 5)
{
//print("NodePos: " + coverNode.WorldPosition + ", NodeDist: " + nodeDistance);
}
if (nodeDistance < smallestNodeDistance)
{
smallestNodeDistance = nodeDistance;
bestCoverPoint = coverNode.WorldPosition;
}
}
if (bestCoverPoint != NullVector)
{
coverDistance = smallestNodeDistance;
coverTarget = bestCoverPoint;
//print("BEST NodePos: " + coverTarget + ", NodeDist: " + coverDistance);
Quaternion left = Quaternion.AngleAxis(-sightAngle, Vector3.forward);
Quaternion right = Quaternion.AngleAxis(sightAngle, Vector3.forward);
leftP = left * coverTarget;
rightP = right * coverTarget;
nodeP = coverTarget;
return(true);
}
return(false);
}
