//------------------------------------------------------------------------------------------
private void WriteTile(KD2DTile a_grazedTile, GameObject a_currenTileGameObject, float a_nextG)
{
a_grazedTile.Father = a_currenTileGameObject;
a_grazedTile.G = a_nextG;
a_grazedTile.SetF();
Reorder(a_grazedTile.gameObject, m_openList);
}
//---------------------------------------------------------------------------------------------
public override void OnTileEnter(KD2DTile a_tile)
{
if (m_isDynamic)
{
a_tile.Occupied = true;
}
}
//---------------------------------------------------------------------------------------------
public override void OnTileExit(KD2DTile a_tile)
{
if (m_isDynamic)
{
a_tile.Occupied = false;
}
}
//---------------------------------------------------------------------------------------------
public override void OnTileEnter(KD2DTile a_tile)
{
if (!OverlapedTiles.Contains(a_tile))
{
a_tile.Penalty += m_penaltyPercentage;
OverlapedTiles.Add(a_tile);
}
}
//---------------------------------------------------------------------------------------------
public override void OnTileEnter(KD2DTile a_tile)
{
if (!OverlapedTiles.Contains(a_tile))
{
a_tile.Penalty += m_penaltyPercentage;
OverlapedTiles.Add(a_tile);
}
}
//------------------------------------------------------------------------------------------
private static List <KD2DTile> FinalList(KD2DTile a_destination)
{
var list = new List <KD2DTile>();
for (var c = a_destination; c.Father != null; c = c.Father.GetComponent <KD2DTile>())
{
list.Add(c);
}
return(list);
}
//------------------------------------------------------------------------------------------
private void WriteTile
(
KD2DTile a_tile,
GameObject a_currenTileGameObject,
float a_nextG,
Vector2 a_end
)
{
Vector3 nextTilePosition = a_tile.gameObject.transform.position;
a_tile.Father = a_currenTileGameObject;
a_tile.G = a_nextG;
a_tile.H = Math.Abs(a_end.x - nextTilePosition.x) + Math.Abs(a_end.y - nextTilePosition.y);
a_tile.IsWrited = true;
a_tile.SetF();
Insert(a_tile.gameObject, m_openList);
}
//---------------------------------------------------------------------------------------------
/// <summary>
/// Move over all p_tiles of the route and verify every step if the route has suffered some alterations
/// </summary>
/// <param name="a_tiles">full route for going from start to goal</param>
/// <returns></returns>
private IEnumerator Walk(List <KD2DTile> a_tiles)
{
if (a_tiles.Count > 0)
{
KD2DTile currentTile2DTile = a_tiles.Last();
Vector2 currentStep = currentTile2DTile.transform.position;
bool repathForObstacle;
do
{
#if UNITY_EDITOR
var routePoints = a_tiles.Select
(
a_tile => new Vector2(a_tile.transform.position.x, a_tile.transform.position.y)
).ToList();
DrawRouteLines(routePoints, _color);
#endif
transform.Translate
(
new Vector2
(
currentStep.x - transform.position.x,
currentStep.y - transform.position.y
).normalized *Time.deltaTime *Speed
);
yield return(null);
repathForObstacle = a_tiles.Exists(a_tile => a_tile.Occupied);
}while
(
Vector2.Distance(transform.position, currentStep) > m_speed * Time.deltaTime &&
!repathForObstacle
);
if (repathForObstacle || RepathThisAgent || m_nav2D.RepathAfterTile)
{
Vector3 destiation = a_tiles.First().transform.position;
NearestTile = currentTile2DTile;
SetDestination(destiation);
}
else
{
a_tiles.Remove(currentTile2DTile);
KDAgentStates state;
StateMachine stateCoroutine;
if (a_tiles.Count == 0)
{
stateCoroutine = Wait;
state = KDAgentStates.Waiting;
}
else
{
stateCoroutine = Turn;
state = KDAgentStates.Turning;
}
NearestTile = currentTile2DTile;
StartCurrentState(stateCoroutine, state, a_tiles);
}
}
else
{
StartCurrentState(Wait, KDAgentStates.Waiting, a_tiles);
}
}
//---------------------------------------------------------------------------------------------
public override void OnTileExit(KD2DTile a_tile)
{
a_tile.Penalty -= m_penaltyPercentage;
OverlapedTiles.Remove(a_tile);
}
//------------------------------------------------------------------------------------------
private void BinaryDelete
(
IList <GameObject> a_openList,
List <GameObject> a_closeList,
out GameObject a_tile,
out KD2DTile a_currentTile)
{
a_tile = a_openList.FirstOrDefault();
a_currentTile = a_tile.GetComponent <KD2DTile>();
a_currentTile.IsBloked = true;
a_closeList.Add(a_tile);
a_openList.RemoveAt(0);
if (a_openList.Count > 0)
{
a_openList.Insert(0, a_openList[a_openList.Count - 1]);
a_openList.RemoveAt(a_openList.Count - 1);
var i = 0;
while (true)
{
var j = i;
if (2 * j + 1 <= a_openList.Count - 1)
{
if
(
a_openList[j].GetComponent <KD2DTile>().F >=
a_openList[2 * j].GetComponent <KD2DTile>().F
)
{
i = 2 * j;
}
if
(
a_openList[i].GetComponent <KD2DTile>().F >=
a_openList[2 * j + 1].GetComponent <KD2DTile>().F
)
{
i = 2 * j + 1;
}
}
else if
(
2 * j <= a_openList.Count - 1 &&
a_openList[j].GetComponent <KD2DTile>().F >=
a_openList[2 * j].GetComponent <KD2DTile>().F
)
{
i = 2 * j;
}
if (i == j)
{
break;
}
var temp = a_openList[j];
a_openList[j] = a_openList[i];
a_openList[i] = temp;
}
}
}
//----------------------------------------------------------------------------------------------
public KD2DTile NearestNodeToPosition(Vector2 a_position)
{
KD2DTile nearestTile = m_pathFinder.NearestTile(a_position);
return(nearestTile);
}
//---------------------------------------------------------------------------------------------
/// <summary>
/// The interaction between the tiles inside of the navigation Area when the are enter on the p_tile
/// </summary>
/// <param name="a_tile"></param>
public abstract void OnTileEnter(KD2DTile a_tile);
//---------------------------------------------------------------------------------------------
/// <summary>
/// The interaction between the tiles inside of the navigation Area when the area leaves the p_tile
/// </summary>
/// <param name="a_tile"></param>
public abstract void OnTileExit(KD2DTile a_tile);
//---------------------------------------------------------------------------------------------
public override void OnTileExit(KD2DTile a_tile)
{
a_tile.Penalty -= m_penaltyPercentage;
OverlapedTiles.Remove(a_tile);
}
//---------------------------------------------------------------------------------------------
/// <summary>
/// The interaction between the tiles inside of the navigation Area when the are enter on the p_tile
/// </summary>
/// <param name="a_tile"></param>
public abstract void OnTileEnter(KD2DTile a_tile);
//---------------------------------------------------------------------------------------------
public override void OnTileExit(KD2DTile a_tile)
{
if (m_isDynamic)
a_tile.Occupied = false;
}
//---------------------------------------------------------------------------------------------
public override void OnTileEnter(KD2DTile a_tile)
{
if (m_isDynamic)
a_tile.Occupied = true;
}
//---------------------------------------------------------------------------------------------
/// <summary>
/// The interaction between the tiles inside of the navigation Area when the area leaves the p_tile
/// </summary>
/// <param name="a_tile"></param>
public abstract void OnTileExit(KD2DTile a_tile);
