// Use this for initialization
public WaypointGraph GenerateGraph()
{
Debug.Log("Generating graph...");
grid = new WaypointNode[gridSizeX, gridSizeZ];
List <WaypointNode> nodes = new List <WaypointNode>();
edges = new List <WaypointEdge>();
for (int i = 0; i < gridSizeX; i++)
{
for (int j = 0; j < gridSizeZ; j++)
{
WaypointNode node = new WaypointNode(new Vector3(gridOffset.x + i * cellSize, gridOffset.y, gridOffset.z + j * cellSize));
grid[i, j] = node;
nodes.Add(node);
}
}
for (int i = 0; i < gridSizeX; i++)
{
for (int j = 0; j < gridSizeZ; j++)
{
CheckNeighbours(i, j);
}
}
Debug.Log("Generation done! N: " + nodes.Count + ", E: " + edges.Count);
return(new WaypointGraph(nodes.ToArray(), edges.ToArray()));
}
void CheckNeighbours(int x, int y)
{
for (int a = -range; a <= range; a++)
{
for (int b = -range; b <= range; b++)
{
if (x + a >= 0 && y + b >= 0 && x + a < gridSizeX && y + b < gridSizeZ)
{
WaypointNode current = grid[x, y];
WaypointNode target = grid[x + a, y + b];
float halfWidth = .4f;
Vector3 perp = Vector3.Cross(current.position - target.position, Vector3.up);
perp.Normalize();
if (!IsRaycastColliding(current.position + perp * halfWidth, target.position + perp * halfWidth) &&
!IsRaycastColliding(current.position, target.position) &&
!IsRaycastColliding(current.position - perp * halfWidth, target.position - perp * halfWidth))
{
edges.Add(new WaypointEdge(current, target));
}
}
}
}
}
public WaypointEdge(WaypointNode f, WaypointNode s)
{
first = f;
second = s;
}