public bool GetClosestVisiblePointToGoal(Vector3 fromPoint)
{
float fClosest = float.MinValue;
bool didfind = false;
for (int i = 0; i < ObstacleList.Count; i++)
{
if (ObstacleList[i].Points.Count > 2)
{
for (int j = 0; j < ObstacleList[i].Points.Count; j++)
{
if (HaveBeenToObjPoint(i, j) == true)
{
continue;
}
Obstacle o = ObstacleList[i];
// get prev point
Vector3 temp = o.Points[j == 0 ? o.Points.Count - 1 : j - 1];
//get next point
Vector3 temp2 = o.Points[j == o.Points.Count - 1 ? 0 : j + 1];
Vector3 v = GetTriPoint(o.Points[j], temp, temp2);
if (CheckObstacles(fromPoint, v) == false)
{
Dist = Vector3.Distance(o.Points[j], EndPoint);
if (Dist < fClosest)
{
NextPointIndex = 1;
ClosestObjectIndex = i;
ClosestVertexIndex = j;
fClosest = Dist;
didfind = true;
if (CheckObstacles(v, EndPoint) == false)
{
NextPoint = ObstacleList[ClosestObjectIndex].Points[ClosestVertexIndex];
return(false);
}
}
}
}
}
}
if (didfind)
{
NextPoint = ObstacleList[ClosestObjectIndex].Points[ClosestVertexIndex];
BeenTo bt = new BeenTo();
bt.BeenToObject = ClosestObjectIndex;
bt.BeenToVertex.Add(ClosestVertexIndex);
BeenToList.Add(bt);
}
return(didfind);
}
public bool HaveBeenToObjPoint(int objIndex, int vertexIndex)
{
bool SkipVertex = false;
//make shure we havent already tried this point
for (int i = 0; i < BeenToList.Count; i++)
{
BeenTo bt = BeenToList[i];
if (bt.BeenToObject == objIndex)
{
for (int x = 0; x < bt.BeenToVertex.Count; x++)
{
if (bt.BeenToVertex[x] == vertexIndex)
{
SkipVertex = true;
break;
}
}
}
}
return(SkipVertex);
}
public bool GetClosestVisiblePointToGoal( Vector3 fromPoint ) {
float fClosest = float.MinValue;
bool didfind = false;
for( int i = 0; i < ObstacleList.Count; i++ ) {
if( ObstacleList[ i ].Points.Count > 2 )
for( int j = 0; j < ObstacleList[ i ].Points.Count; j++ ) {
if( HaveBeenToObjPoint( i, j ) == true ) {
continue;
}
Obstacle o = ObstacleList[ i ];
// get prev point
Vector3 temp = o.Points[ j == 0 ? o.Points.Count - 1 : j - 1 ];
//get next point
Vector3 temp2 = o.Points[ j == o.Points.Count - 1 ? 0 : j + 1 ];
Vector3 v = GetTriPoint( o.Points[ j ], temp, temp2 );
if( CheckObstacles( fromPoint, v ) == false ) {
Dist = Vector3.Distance( o.Points[ j ], EndPoint );
if( Dist < fClosest ) {
NextPointIndex = 1;
ClosestObjectIndex = i;
ClosestVertexIndex = j;
fClosest = Dist;
didfind = true;
if( CheckObstacles( v, EndPoint ) == false ) {
NextPoint = ObstacleList[ ClosestObjectIndex ].Points[ ClosestVertexIndex ];
return false;
}
}
}
}
}
if( didfind ) {
NextPoint = ObstacleList[ ClosestObjectIndex ].Points[ ClosestVertexIndex ];
BeenTo bt = new BeenTo();
bt.BeenToObject = ClosestObjectIndex;
bt.BeenToVertex.Add( ClosestVertexIndex );
BeenToList.Add( bt );
}
return didfind;
}
