bool FindNearestObstade(RayAgentData data, Vector3 target, out RayAgentHitInfo hitInfo, float distance, bool onlyCenter)
{
hitInfo = null;
bool hasHit = false;
float minDistance = Vector3.Distance(data.Position, target);
Vector3 direction = target - data.Position;
data.SetDirection(direction);
Vector3[] anchors = data.Anchors;
RaycastHit hit;
for (int i = 0; i < anchors.Length; i++)
{
if (onlyCenter)
{
if (i != (int)RayAgentPos.Center)
{
continue;
}
}
if (Physics.Raycast(anchors[i], direction, out hit, distance, layerMask.value))
{
if (hit.transform == _target)
{
continue;
}
ObstacleBox obstacle = hit.transform.GetComponent <ObstacleBox>();
if (obstacle != null)
{
if (hit.distance < minDistance)
{
minDistance = hit.distance;
if (hitInfo == null)
{
hitInfo = new RayAgentHitInfo();
}
hitInfo.hit = hit;
hitInfo.obstacle = obstacle;
hitInfo.pos = (RayAgentPos)i;
hitInfo.hitpoint = hit.point;
if (hitInfo.pos == RayAgentPos.Right)
{
hitInfo.hitpoint += (data.Position - data.Right).normalized * data.radius;
}
else if (hitInfo.pos == RayAgentPos.Right)
{
hitInfo.hitpoint += (data.Position - data.Left).normalized * data.radius;
}
hasHit = true;
}
}
}
}
return(hasHit);
}
bool AnchorHit(Vector3 from, Vector3 to)
{
bool hasHit = false;
RayAgentData data = new RayAgentData();
data.Position = from;
data.radius *= 0.9F;
float distance = Vector3.Distance(from, to) + extended;
RayAgentHitInfo hitInfo;
if (FindNearestObstade(data, to, out hitInfo, distance, false))
{
hasHit = true;
}
return(hasHit);
}
private bool Find(Vector3 from, out List <Vector3> paths)
{
bool enable = true;
paths = new List <Vector3>();
RayAgentData data = new RayAgentData();
data.Position = from;
RayAgentHitInfo hitInfo;
RayAgentHitInfo hitInfo2;
RayAgentHitInfo hitInfo3;
if (FindNearestObstade(data, _end, out hitInfo, 100F, false))
{
Vector3 hitPoint = Extended(hitInfo.hitpoint, _begin);
int index;
Vector3 obstacleAnchor = hitInfo.obstacle.FindAnchor(hitPoint, out index);
bool hasAnchor = false;
Vector3 anchor = obstacleAnchor;
int anchorIndex = index;
int index2 = -1;
if (AnchorHit(hitPoint, obstacleAnchor))
{
Vector3 obstacleAnchor2 = hitInfo.obstacle.FindAnchor2(hitPoint, index, out index2);
if (AnchorHit(hitPoint, obstacleAnchor2))
{
hasAnchor = false;
//A*
enable = false;
return(enable);
}
else
{
anchorIndex = index2;
anchor = obstacleAnchor2;
hasAnchor = true;
}
// Gizmos.color = Color.cyan * 0.5F;
// Gizmos.DrawWireSphere(obstacleAnchor2, 0.2F);
}
else
{
anchor = obstacleAnchor;
hasAnchor = true;
}
// Gizmos.color = Color.green * 0.5F;
// Gizmos.DrawWireSphere(hitInfo.hitpoint, 0.1F);
//
// Gizmos.color = Color.green;
// Gizmos.DrawWireSphere(hitPoint, 0.1F);
//
//
// Gizmos.color = Color.cyan;
// Gizmos.DrawWireSphere(obstacleAnchor, 0.2F);
if (hasAnchor)
{
data.Position = anchor;
if (FindNearestObstade(data, _end, out hitInfo2, 100F, false))
{
if (hitInfo2.hit.transform == hitInfo.hit.transform)
{
Vector3 obstacleAnchor3 = hitInfo.obstacle.FindAnchor3(hitPoint, anchorIndex);
data.Position = obstacleAnchor3;
if (FindNearestObstade(data, _end, out hitInfo3, 100F, true))
{
if (hitInfo3.hit.transform != hitInfo.hit.transform)
{
paths.Add(hitPoint);
paths.Add(anchor);
paths.Add(obstacleAnchor3);
List <Vector3> points;
if (Find(obstacleAnchor3, out points))
{
for (int i = 0; i < points.Count; i++)
{
paths.Add(points[i]);
}
}
else
{
enabled = false;
return(enabled);
}
}
else
{
enabled = false;
return(enabled);
// paths.Add(hitPoint);
// paths.Add(anchor);
// paths.Add(obstacleAnchor3);
//A*
}
}
else
{
paths.Add(hitPoint);
paths.Add(anchor);
paths.Add(obstacleAnchor3);
paths.Add(_end);
}
}
else
{
paths.Add(hitPoint);
paths.Add(anchor);
List <Vector3> points;
if (Find(anchor, out points))
{
for (int i = 0; i < points.Count; i++)
{
paths.Add(points[i]);
}
}
else
{
enabled = false;
return(enabled);
}
}
}
else
{
paths.Add(hitPoint);
paths.Add(anchor);
paths.Add(_end);
}
}
}
else
{
paths.Add(_end);
}
return(enabled);
}
