/*public override bool ContainsConnection (Node node, Path p) {
* if (!node.IsWalkable (p)) {
* return false;
* }
*
* if (connections != null) {
* for (int i=0;i<connections.Length;i++) {
* if (connections[i] == node) {
* return true;
* }
* }
* }
*
* int index = indices & 0xFFFFFF;
*
* int[] neighbourOffsets = gridGraphs[indices >> 24].neighbourOffsets;
* GridNode[] nodes = gridGraphs[indices >> 24].nodes;
*
* for (int i=0;i<8;i++) {
* if (((flags >> i) & 1) == 1) {
*
* Node other = nodes[index+neighbourOffsets[i]];
* if (other == node) {
* return true;
* }
* }
* }
* return false;
* }*/
/** Updates the grid connections of this node and it's neighbour nodes to reflect walkability of this node */
public void UpdateGridConnections()
{
GridGraph graph = gridGraphs[indices >> 24];
int index = indices & 0xFFFFFF;
int x = index % graph.width;
int z = index / graph.width;
graph.CalculateConnections(graph.nodes, x, z, this);
int[] neighbourOffsets = graph.neighbourOffsets;
int[] neighbourOffsetsX = graph.neighbourXOffsets;
int[] neighbourOffsetsZ = graph.neighbourZOffsets;
for (int i = 0; i < 8; i++)
{
//if (((flags >> i) & 1) == 1) {
int nx = x + neighbourOffsetsX[i];
int nz = z + neighbourOffsetsZ[i];
if (nx < 0 || nz < 0 || nx >= graph.width || nz >= graph.depth)
{
continue;
}
GridNode node = (GridNode)graph.nodes[index + neighbourOffsets[i]];
graph.CalculateConnections(graph.nodes, nx, nz, node);
//}
}
}
/*public override bool ContainsConnection (Node node, Path p) {
* if (!node.IsWalkable (p)) {
* return false;
* }
*
* if (connections != null) {
* for (int i=0;i<connections.Length;i++) {
* if (connections[i] == node) {
* return true;
* }
* }
* }
*
* int index = indices & 0xFFFFFF;
*
* int[] neighbourOffsets = gridGraphs[indices >> 24].neighbourOffsets;
* GridNode[] nodes = gridGraphs[indices >> 24].nodes;
*
* for (int i=0;i<8;i++) {
* if (((flags >> i) & 1) == 1) {
*
* Node other = nodes[index+neighbourOffsets[i]];
* if (other == node) {
* return true;
* }
* }
* }
* return false;
* }*/
/** Updates the grid connections of this node and it's neighbour nodes to reflect walkability of this node */
public void UpdateGridConnections()
{
GridGraph graph = gridGraphs[indices >> 24];
int index = GetIndex();
int x = index % graph.width;
int z = index / graph.width;
graph.CalculateConnections(graph.nodes, x, z, this);
int[] neighbourOffsets = graph.neighbourOffsets;
int[] neighbourOffsetsX = graph.neighbourXOffsets;
int[] neighbourOffsetsZ = graph.neighbourZOffsets;
//Loop through neighbours
for (int i = 0; i < 8; i++)
{
//Find the coordinates for the neighbour
int nx = x + neighbourOffsetsX[i];
int nz = z + neighbourOffsetsZ[i];
//Make sure it is not out of bounds
if (nx < 0 || nz < 0 || nx >= graph.width || nz >= graph.depth)
{
continue;
}
GridNode node = (GridNode)graph.nodes[index + neighbourOffsets[i]];
//Calculate connections for neighbour
graph.CalculateConnections(graph.nodes, nx, nz, node);
}
}
public void SetWalableInfoAllMap(Func <int, int, bool> isWalkableFunc)
{
AstarPath.active.AddWorkItem(new AstarWorkItem(ctx =>
{
for (int i = 0; i < _Depth; i++)
{
for (int j = 0; j < _Width; j++)
{
var node = _GridGraph.GetNode(j, i);
node.Walkable = isWalkableFunc(j, i);
}
}
_GridGraph.GetNodes(node => _GridGraph.CalculateConnections((GridNodeBase)node));
}));
}
// Generates a grid graph for the A* Pathfinding system.
private void generateGridGraph(int width, int height)
{
AstarData data = AstarPath.active.data;
GridGraph gg = data.AddGraph(typeof(GridGraph)) as GridGraph;
float nodeSize = 1f;
gg.center = new Vector3((width / 2) - 0.5f, 0, (height / 2) - 0.5f);
gg.SetDimensions(width, height, nodeSize);
gg.neighbours = NumNeighbours.Four;
AstarPath.active.Scan();
AstarPath.active.AddWorkItem(new AstarWorkItem(ctx => {
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
var node = gg.GetNode(x, y);
node.Walkable = walkable[x, y];
}
}
gg.GetNodes(node => gg.CalculateConnections((GridNodeBase)node));
}));
}
/** Removes a connection from the node.
* This can be a standard connection or a grid connection
* \returns True if a connection was removed, false otherwsie */
public override bool RemoveConnection(Node node)
{
bool standard = base.RemoveConnection(node);
GridGraph graph = gridGraphs[indices >> 24];
int index = indices & 0xFFFFFF;
int x = index % graph.width;
int z = index / graph.width;
graph.CalculateConnections(graph.nodes, x, z, this);
int[] neighbourOffsets = graph.neighbourOffsets;
int[] neighbourOffsetsX = graph.neighbourXOffsets;
int[] neighbourOffsetsZ = graph.neighbourZOffsets;
for (int i = 0; i < 8; i++)
{
int nx = x + neighbourOffsetsX[i];
int nz = z + neighbourOffsetsZ[i];
if (nx < 0 || nz < 0 || nx >= graph.width || nz >= graph.depth)
{
continue;
}
GridNode gNode = (GridNode)graph.nodes[index + neighbourOffsets[i]];
if (gNode == node)
{
SetConnection(i, 0);
return(true);
}
}
return(standard);
}
IEnumerator UpdateGraphCoroutine()
{
// Find the direction
// that we want to move the graph in
var dir = target.position - graph.center;
// Snap to a whole number of nodes
dir.x = Mathf.Round(dir.x / graph.nodeSize) * graph.nodeSize;
dir.z = Mathf.Round(dir.z / graph.nodeSize) * graph.nodeSize;
dir.y = 0;
// Nothing do to
if (dir == Vector3.zero)
{
yield break;
}
// Number of nodes to offset in each
// direction
var offset = new Int2(-Mathf.RoundToInt(dir.x / graph.nodeSize), -Mathf.RoundToInt(dir.z / graph.nodeSize));
// Move the center
graph.center += dir;
graph.GenerateMatrix();
// Create a temporary buffer
// required for the calculations
if (tmp == null || tmp.Length != graph.nodes.Length)
{
tmp = new GridNode[graph.nodes.Length];
}
// Cache some variables for easier access
var width = graph.width;
var depth = graph.depth;
var nodes = graph.nodes;
// Check if we have moved
// less than a whole graph
// width in any direction
if (Mathf.Abs(offset.x) <= width && Mathf.Abs(offset.y) <= depth)
{
// Offset each node by the #offset variable
// nodes which would end up outside the graph
// will wrap around to the other side of it
for (var z = 0; z < depth; z++)
{
var pz = z * width;
var tz = ((z + offset.y + depth) % depth) * width;
for (var x = 0; x < width; x++)
{
tmp[tz + ((x + offset.x + width) % width)] = nodes[pz + x];
}
}
yield return(null);
// Copy the nodes back to the graph
// and set the correct indices
for (var z = 0; z < depth; z++)
{
var pz = z * width;
for (var x = 0; x < width; x++)
{
var node = tmp[pz + x];
node.NodeInGridIndex = pz + x;
nodes[pz + x] = node;
}
}
var r = new IntRect(0, 0, offset.x, offset.y);
var minz = r.ymax;
var maxz = depth;
// If offset.x < 0, adjust the rect
if (r.xmin > r.xmax)
{
var tmp2 = r.xmax;
r.xmax = width + r.xmin;
r.xmin = width + tmp2;
}
// If offset.y < 0, adjust the rect
if (r.ymin > r.ymax)
{
var tmp2 = r.ymax;
r.ymax = depth + r.ymin;
r.ymin = depth + tmp2;
minz = 0;
maxz = r.ymin;
}
// Make sure erosion is taken into account
// Otherwise we would end up with ugly artifacts
r = r.Expand(graph.erodeIterations + 1);
// Makes sure the rect stays inside the grid
r = IntRect.Intersection(r, new IntRect(0, 0, width, depth));
yield return(null);
// Update all nodes along one edge of the graph
// With the same width as the rect
for (var z = r.ymin; z < r.ymax; z++)
{
for (var x = 0; x < width; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
yield return(null);
// Update all nodes along the other edge of the graph
// With the same width as the rect
for (var z = minz; z < maxz; z++)
{
for (var x = r.xmin; x < r.xmax; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
yield return(null);
// Calculate all connections for the nodes
// that might have changed
for (var z = r.ymin; z < r.ymax; z++)
{
for (var x = 0; x < width; x++)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
yield return(null);
// Calculate all connections for the nodes
// that might have changed
for (var z = minz; z < maxz; z++)
{
for (var x = r.xmin; x < r.xmax; x++)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
yield return(null);
// Calculate all connections for the nodes along the boundary
// of the graph, these always need to be updated
/** \todo Optimize to not traverse all nodes in the graph, only those at the edges */
for (var z = 0; z < depth; z++)
{
for (var x = 0; x < width; x++)
{
if (x == 0 || z == 0 || x >= width - 1 || z >= depth - 1)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
}
}
else
{
// Just update all nodes
for (var z = 0; z < depth; z++)
{
for (var x = 0; x < width; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
// Recalculate the connections of all nodes
for (var z = 0; z < depth; z++)
{
for (var x = 0; x < width; x++)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
}
if (floodFill)
{
yield return(null);
// Make sure the areas for the graph
// have been recalculated
// not doing this can cause pathfinding to fail
AstarPath.active.QueueWorkItemFloodFill();
}
}
/** Async method for moving the graph */
IEnumerator UpdateGraphCoroutine()
{
// Find the direction that we want to move the graph in.
// Calcuculate this in graph space (where a distance of one is the size of one node)
Vector3 dir = PointToGraphSpace(target.position) - PointToGraphSpace(graph.center);
// Snap to a whole number of nodes
dir.x = Mathf.Round(dir.x);
dir.z = Mathf.Round(dir.z);
dir.y = 0;
// Nothing do to
if (dir == Vector3.zero)
{
yield break;
}
// Number of nodes to offset in each direction
Int2 offset = new Int2(-Mathf.RoundToInt(dir.x), -Mathf.RoundToInt(dir.z));
// Move the center (this is in world units, so we need to convert it back from graph space)
graph.center += graph.transform.TransformVector(dir);
graph.UpdateTransform();
// Cache some variables for easier access
int width = graph.width;
int depth = graph.depth;
GridNodeBase[] nodes;
// Layers are required when handling LayeredGridGraphs
int layers = 1;
nodes = graph.nodes;
// Create a temporary buffer required for the calculations
if (buffer == null || buffer.Length != width * depth)
{
buffer = new GridNodeBase[width * depth];
}
// Check if we have moved less than a whole graph width all directions
// If we have moved more than this we can just as well recalculate the whole graph
if (Mathf.Abs(offset.x) <= width && Mathf.Abs(offset.y) <= depth)
{
IntRect recalculateRect = new IntRect(0, 0, offset.x, offset.y);
// If offset.x < 0, adjust the rect
if (recalculateRect.xmin > recalculateRect.xmax)
{
int tmp2 = recalculateRect.xmax;
recalculateRect.xmax = width + recalculateRect.xmin;
recalculateRect.xmin = width + tmp2;
}
// If offset.y < 0, adjust the rect
if (recalculateRect.ymin > recalculateRect.ymax)
{
int tmp2 = recalculateRect.ymax;
recalculateRect.ymax = depth + recalculateRect.ymin;
recalculateRect.ymin = depth + tmp2;
}
// Connections need to be recalculated for the neighbours as well, so we need to expand the rect by 1
var connectionRect = recalculateRect.Expand(1);
// Makes sure the rect stays inside the grid
connectionRect = IntRect.Intersection(connectionRect, new IntRect(0, 0, width, depth));
// Offset each node by the #offset variable
// nodes which would end up outside the graph
// will wrap around to the other side of it
for (int l = 0; l < layers; l++)
{
int layerOffset = l * width * depth;
for (int z = 0; z < depth; z++)
{
int pz = z * width;
int tz = ((z + offset.y + depth) % depth) * width;
for (int x = 0; x < width; x++)
{
buffer[tz + ((x + offset.x + width) % width)] = nodes[layerOffset + pz + x];
}
}
yield return(null);
// Copy the nodes back to the graph
// and set the correct indices
for (int z = 0; z < depth; z++)
{
int pz = z * width;
for (int x = 0; x < width; x++)
{
int newIndex = pz + x;
var node = buffer[newIndex];
if (node != null)
{
node.NodeInGridIndex = newIndex;
}
nodes[layerOffset + newIndex] = node;
}
// Calculate the limits for the region that has been wrapped
// to the other side of the graph
int xmin, xmax;
if (z >= recalculateRect.ymin && z < recalculateRect.ymax)
{
xmin = 0;
xmax = depth;
}
else
{
xmin = recalculateRect.xmin;
xmax = recalculateRect.xmax;
}
for (int x = xmin; x < xmax; x++)
{
var node = buffer[pz + x];
if (node != null)
{
// Clear connections on all nodes that are wrapped and placed on the other side of the graph.
// This is both to clear any custom connections (which do not really make sense after moving the node)
// and to prevent possible exceptions when the node will later (possibly) be destroyed because it was
// not needed anymore (only for layered grid graphs).
node.ClearConnections(false);
}
}
}
yield return(null);
}
// The calculation will only update approximately this number of
// nodes per frame. This is used to keep CPU load per frame low
int yieldEvery = 1000;
// To avoid the update taking too long, make yieldEvery somewhat proportional to the number of nodes that we are going to update
int approxNumNodesToUpdate = Mathf.Max(Mathf.Abs(offset.x), Mathf.Abs(offset.y)) * Mathf.Max(width, depth);
yieldEvery = Mathf.Max(yieldEvery, approxNumNodesToUpdate / 10);
int counter = 0;
// Recalculate the nodes
// Take a look at the image in the docs for the UpdateGraph method
// to see which nodes are being recalculated.
for (int z = 0; z < depth; z++)
{
int xmin, xmax;
if (z >= recalculateRect.ymin && z < recalculateRect.ymax)
{
xmin = 0;
xmax = width;
}
else
{
xmin = recalculateRect.xmin;
xmax = recalculateRect.xmax;
}
for (int x = xmin; x < xmax; x++)
{
graph.RecalculateCell(x, z, false, false);
}
counter += (xmax - xmin);
if (counter > yieldEvery)
{
counter = 0;
yield return(null);
}
}
for (int z = 0; z < depth; z++)
{
int xmin, xmax;
if (z >= connectionRect.ymin && z < connectionRect.ymax)
{
xmin = 0;
xmax = width;
}
else
{
xmin = connectionRect.xmin;
xmax = connectionRect.xmax;
}
for (int x = xmin; x < xmax; x++)
{
graph.CalculateConnections(x, z);
}
counter += (xmax - xmin);
if (counter > yieldEvery)
{
counter = 0;
yield return(null);
}
}
yield return(null);
// Calculate all connections for the nodes along the boundary
// of the graph, these always need to be updated
/** \todo Optimize to not traverse all nodes in the graph, only those at the edges */
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
if (x == 0 || z == 0 || x == width - 1 || z == depth - 1)
{
graph.CalculateConnections(x, z);
}
}
}
// We need to clear the Area if we are not using flood filling.
// This will make pathfinding always work, but it may be slow
// to figure out that no path exists if none does.
// (of course, if there are regions between which no valid
// paths exist, then the #floodFill field should not
// be set to false anyway).
if (!floodFill)
{
graph.GetNodes(node => node.Area = 1);
}
}
else
{
// The calculation will only update approximately this number of
// nodes per frame. This is used to keep CPU load per frame low
int yieldEvery = Mathf.Max(depth * width / 20, 1000);
int counter = 0;
// Just update all nodes
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
graph.RecalculateCell(x, z);
}
counter += width;
if (counter > yieldEvery)
{
counter = 0;
yield return(null);
}
}
// Recalculate the connections of all nodes
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
graph.CalculateConnections(x, z);
}
counter += width;
if (counter > yieldEvery)
{
counter = 0;
yield return(null);
}
}
}
}
/** Async method for moving the graph */
IEnumerator UpdateGraphCoroutine()
{
// Find the direction
// that we want to move the graph in.
// Calcuculate this in graph space (where a distance of one is the size of one node)
Vector3 dir = PointToGraphSpace(target.position) - PointToGraphSpace(graph.center);
// Snap to a whole number of nodes
dir.x = Mathf.Round(dir.x);
dir.z = Mathf.Round(dir.z);
dir.y = 0;
// Nothing do to
if (dir == Vector3.zero)
{
yield break;
}
// Number of nodes to offset in each direction
Int2 offset = new Int2(-Mathf.RoundToInt(dir.x), -Mathf.RoundToInt(dir.z));
// Move the center (this is in world units, so we need to convert it back from graph space)
graph.center += graph.matrix.MultiplyVector(dir);
graph.GenerateMatrix();
// Create a temporary buffer
// required for the calculations
if (tmp == null || tmp.Length != graph.nodes.Length)
{
tmp = new GridNode[graph.nodes.Length];
}
// Cache some variables for easier access
int width = graph.width;
int depth = graph.depth;
GridNode[] nodes = graph.nodes;
// Check if we have moved
// less than a whole graph
// width in any direction
if (Mathf.Abs(offset.x) <= width && Mathf.Abs(offset.y) <= depth)
{
// Offset each node by the #offset variable
// nodes which would end up outside the graph
// will wrap around to the other side of it
for (int z = 0; z < depth; z++)
{
int pz = z * width;
int tz = ((z + offset.y + depth) % depth) * width;
for (int x = 0; x < width; x++)
{
tmp[tz + ((x + offset.x + width) % width)] = nodes[pz + x];
}
}
yield return(null);
// Copy the nodes back to the graph
// and set the correct indices
for (int z = 0; z < depth; z++)
{
int pz = z * width;
for (int x = 0; x < width; x++)
{
GridNode node = tmp[pz + x];
node.NodeInGridIndex = pz + x;
nodes[pz + x] = node;
}
}
IntRect r = new IntRect(0, 0, offset.x, offset.y);
int minz = r.ymax;
int maxz = depth;
// If offset.x < 0, adjust the rect
if (r.xmin > r.xmax)
{
int tmp2 = r.xmax;
r.xmax = width + r.xmin;
r.xmin = width + tmp2;
}
// If offset.y < 0, adjust the rect
if (r.ymin > r.ymax)
{
int tmp2 = r.ymax;
r.ymax = depth + r.ymin;
r.ymin = depth + tmp2;
minz = 0;
maxz = r.ymin;
}
// Make sure erosion is taken into account
// Otherwise we would end up with ugly artifacts
r = r.Expand(graph.erodeIterations + 1);
// Makes sure the rect stays inside the grid
r = IntRect.Intersection(r, new IntRect(0, 0, width, depth));
yield return(null);
// Update all nodes along one edge of the graph
// With the same width as the rect
for (int z = r.ymin; z < r.ymax; z++)
{
for (int x = 0; x < width; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
yield return(null);
// Update all nodes along the other edge of the graph
// With the same width as the rect
for (int z = minz; z < maxz; z++)
{
for (int x = r.xmin; x < r.xmax; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
yield return(null);
// Calculate all connections for the nodes
// that might have changed
for (int z = r.ymin; z < r.ymax; z++)
{
for (int x = 0; x < width; x++)
{
graph.CalculateConnections(x, z, nodes[z * width + x]);
}
}
yield return(null);
// Calculate all connections for the nodes
// that might have changed
for (int z = minz; z < maxz; z++)
{
for (int x = r.xmin; x < r.xmax; x++)
{
graph.CalculateConnections(x, z, nodes[z * width + x]);
}
}
yield return(null);
// Calculate all connections for the nodes along the boundary
// of the graph, these always need to be updated
/** \todo Optimize to not traverse all nodes in the graph, only those at the edges */
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
if (x == 0 || z == 0 || x >= width - 1 || z >= depth - 1)
{
graph.CalculateConnections(x, z, nodes[z * width + x]);
}
}
}
}
else
{
// Just update all nodes
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
// Recalculate the connections of all nodes
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
}
yield return(null);
}
public IEnumerator UpdateGraph()
{
Vector3 dir = target.position - graph.center;
// Snap to a whole number of nodes
dir.x = Mathf.Round(dir.x / graph.nodeSize) * graph.nodeSize;
dir.z = Mathf.Round(dir.z / graph.nodeSize) * graph.nodeSize;
dir.y = 0;
if (dir == Vector3.zero)
{
yield break;
}
Int2 offset = new Int2(-Mathf.RoundToInt(dir.x / graph.nodeSize), -Mathf.RoundToInt(dir.z / graph.nodeSize));
// Move the center
graph.center += dir;
graph.GenerateMatrix();
if (tmp == null || tmp.Length != graph.nodes.Length)
{
tmp = new GridNode[graph.nodes.Length];
}
int width = graph.width;
int depth = graph.depth;
GridNode[] nodes = graph.nodes;
if (Mathf.Abs(offset.x) <= width && Mathf.Abs(offset.y) <= depth)
{
for (int z = 0; z < depth; z++)
{
int pz = z * width;
int tz = ((z + offset.y + depth) % depth) * width;
for (int x = 0; x < width; x++)
{
tmp[tz + ((x + offset.x + width) % width)] = nodes[pz + x];
}
}
yield return(null);
for (int z = 0; z < depth; z++)
{
int pz = z * width;
for (int x = 0; x < width; x++)
{
GridNode node = tmp[pz + x];
node.NodeInGridIndex = pz + x;
nodes[pz + x] = node;
}
}
IntRect r = new IntRect(0, 0, offset.x, offset.y);
int minz = r.ymax;
int maxz = depth;
if (r.xmin > r.xmax)
{
int tmp2 = r.xmax;
r.xmax = width + r.xmin;
r.xmin = width + tmp2;
}
if (r.ymin > r.ymax)
{
int tmp2 = r.ymax;
r.ymax = depth + r.ymin;
r.ymin = depth + tmp2;
minz = 0;
maxz = r.ymin;
}
//Debug.Log ( "R1 " + r );
r = r.Expand(graph.erodeIterations + 1);
r = IntRect.Intersection(r, new IntRect(0, 0, width, depth));
//Debug.Log ( "R2 " + r );
yield return(null);
for (int z = r.ymin; z < r.ymax; z++)
{
for (int x = 0; x < width; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
yield return(null);
for (int z = minz; z < maxz; z++)
{
for (int x = r.xmin; x < r.xmax; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
yield return(null);
for (int z = r.ymin; z < r.ymax; z++)
{
for (int x = 0; x < width; x++)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
yield return(null);
for (int z = minz; z < maxz; z++)
{
for (int x = r.xmin; x < r.xmax; x++)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
yield return(null);
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
if (x == 0 || z == 0 || x >= width - 1 || z >= depth - 1)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
}
}
else
{
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
graph.UpdateNodePositionCollision(nodes[z * width + x], x, z, false);
}
}
for (int z = 0; z < depth; z++)
{
for (int x = 0; x < width; x++)
{
graph.CalculateConnections(nodes, x, z, nodes[z * width + x]);
}
}
}
if (floodFill)
{
yield return(null);
AstarPath.active.QueueWorkItemFloodFill();
}
}
