|
public static ClosestPointOnNode ( |
||
| node | ||
| vertices | ||
| pos | ||
| return | ||
public static NNInfo GetNearest(NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
{
if (nodes == null || nodes.Length == 0)
{
Debug.LogError("NavGraph hasn't been generated yet or does not contain any nodes");
return(default(NNInfo));
}
if (constraint == null)
{
constraint = NNConstraint.None;
}
Int3[] vertices = graph.vertices;
if (graph.bbTree == null)
{
return(NavMeshGraph.GetNearestForce(graph, graph, position, constraint, accurateNearestNode));
}
float num = (graph.bbTree.Size.width + graph.bbTree.Size.height) * 0.5f * 0.02f;
NNInfo result = graph.bbTree.QueryCircle(position, num, constraint);
if (result.node == null)
{
for (int i = 1; i <= 8; i++)
{
result = graph.bbTree.QueryCircle(position, (float)(i * i) * num, constraint);
if (result.node != null || (float)((i - 1) * (i - 1)) * num > AstarPath.active.maxNearestNodeDistance * 2f)
{
break;
}
}
}
if (result.node != null)
{
result.clampedPosition = NavMeshGraph.ClosestPointOnNode(result.node as TriangleMeshNode, vertices, position);
}
if (result.constrainedNode != null)
{
if (constraint.constrainDistance && ((Vector3)result.constrainedNode.position - position).sqrMagnitude > AstarPath.active.maxNearestNodeDistanceSqr)
{
result.constrainedNode = null;
}
else
{
result.constClampedPosition = NavMeshGraph.ClosestPointOnNode(result.constrainedNode as TriangleMeshNode, vertices, position);
}
}
return(result);
}
public void SearchBoxCircle(BBTreeBox box, Vector3 p, float radius, NNConstraint constraint, ref NNInfo nnInfo) //, int intendentLevel = 0) {
{
if (box.node != null)
{
//Leaf node
if (NodeIntersectsCircle(box.node, p, radius))
{
//Update the NNInfo
#if DEBUG
Debug.DrawLine(graph.vertices[box.node[0]], graph.vertices[box.node[1]], Color.red);
Debug.DrawLine(graph.vertices[box.node[1]], graph.vertices[box.node[2]], Color.red);
Debug.DrawLine(graph.vertices[box.node[2]], graph.vertices[box.node[0]], Color.red);
#endif
Vector3 closest = NavMeshGraph.ClosestPointOnNode(box.node, graph.vertices, p);
float dist = (closest - p).sqrMagnitude;
if (nnInfo.node == null)
{
nnInfo.node = box.node;
nnInfo.clampedPosition = closest;
}
else if (dist < (nnInfo.clampedPosition - p).sqrMagnitude)
{
nnInfo.node = box.node;
nnInfo.clampedPosition = closest;
}
if (constraint.Suitable(box.node))
{
if (nnInfo.constrainedNode == null)
{
nnInfo.constrainedNode = box.node;
nnInfo.constClampedPosition = closest;
}
else if (dist < (nnInfo.constClampedPosition - p).sqrMagnitude)
{
nnInfo.constrainedNode = box.node;
nnInfo.constClampedPosition = closest;
}
}
}
return;
}
#if DEBUG
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMin), new Vector3(box.rect.xMax, 0, box.rect.yMin), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMax), new Vector3(box.rect.xMax, 0, box.rect.yMax), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMin), new Vector3(box.rect.xMin, 0, box.rect.yMax), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMax, 0, box.rect.yMin), new Vector3(box.rect.xMax, 0, box.rect.yMax), Color.white);
#endif
//Search children
if (RectIntersectsCircle(box.c1.rect, p, radius))
{
SearchBoxCircle(box.c1, p, radius, constraint, ref nnInfo);
}
if (RectIntersectsCircle(box.c2.rect, p, radius))
{
SearchBoxCircle(box.c2, p, radius, constraint, ref nnInfo);
}
}
