/// <summary>
///
/// </summary>
/// <param name="gridSize"></param>
/// <param name="additive"></param>
/// <param name="interval"></param>
public NavMeshNodeContainer(Vector2Int gridSize, Vector2 additive, float interval)
{
_nodes = new List <List <NavMeshNode> >(gridSize.x);
for (var i = 0; i < gridSize.x; ++i)
{
var row = new List <NavMeshNode>(gridSize.y);
for (var j = 0; j < gridSize.y; ++j)
{
var node = new NavMeshNode
{
node = new AStarSharp.Node(new System.Numerics.Vector2(i, j), true),
worldPosition = new Vector2((i - additive.x) * interval, (j - additive.y) * interval),
gridPosition = new Vector2Int(i, j),
walkable = true,
};
row.Add(node);
}
_nodes.Add(row);
}
this.gridSize = gridSize;
_additive = additive;
_interval = interval;
}
/// <summary>
///
/// </summary>
/// <param name="startNode"></param>
/// <param name="targetNode"></param>
/// <returns></returns>
public IReadOnlyList <Vector2> FindPath(NavMeshNode startNode, NavMeshNode targetNode)
{
const float additiveX = GameConstants.SceneWidth / 2.0f / RayInterval;
const float additiveY = GameConstants.SceneHeight / 2.0f / RayInterval;
var path = new List <Vector2>();
if (_astar == null)
{
return(path);
}
var nodeStack = _astar.FindPath(
new System.Numerics.Vector2(startNode.gridPosition.x, startNode.gridPosition.y),
new System.Numerics.Vector2(targetNode.gridPosition.x, targetNode.gridPosition.y));
if (nodeStack == null)
{
return(path);
}
foreach (var node in nodeStack)
{
path.Add(new Vector2((node.Position.X - additiveX) * RayInterval, (node.Position.Y - additiveY) * RayInterval));
}
path.Add(targetNode.worldPosition);
return(path);
}
/// <summary>
///
/// </summary>
/// <param name="target"></param>
/// <returns></returns>
private NavMeshNode GetClosestNode(Vector2 target)
{
int xDim;
int yDim;
var node = navMesh.nodeContainer.GetNodeAt(target.x, target.y, out xDim, out yDim);
if (node == null)
{
return(null);
}
var step = 0;
while (node == null || !node.walkable)
{
++step;
NavMeshNode closestNode = null;
float closestDistance = float.MaxValue;
for (var i = -1; i <= 1; ++i)
{
for (var j = -1; j <= 1; ++j)
{
if (i == 0 && j == 0)
{
continue;
}
if (TryGetNode(xDim + (step * i), yDim + (step * j), out node))
{
var distance = Vector2.Distance(target, node.worldPosition);
if (distance < closestDistance)
{
closestDistance = distance;
closestNode = node;
}
}
}
}
if (closestNode != null)
{
node = closestNode;
break;
}
}
return(node);
}
/// <summary>
///
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="node"></param>
/// <returns></returns>
private bool TryGetNode(int x, int y, out NavMeshNode node)
{
node = null;
if (x < 0 || y < 0)
{
return(false);
}
if (x >= navMesh.nodeContainer.nodes.Count)
{
return(false);
}
if (y >= navMesh.nodeContainer.nodes[x].Count)
{
return(false);
}
node = navMesh.nodeContainer.GetNodeAt(x, y);
return(node.walkable);
}