// Misc Public Graph Data
#region
public int GetClosestPointTo(Vector2 pos)
{
int cIndex = 0;
float dist = float.MaxValue;
foreach (var point in graphPoints)
{
if (point.isBlocked)
{
continue;
}
float comp = Mathc.SqrDist2D(point.position, pos);
if (comp < dist)
{
dist = comp;
cIndex = graphPoints.IndexOf(point);
}
}
return(cIndex);
}
/// <summary> Returns the closest point to "pos" that is connected to "index" </summary>
int GetClosestConnectedPoint(int index, Vector2 pos)
{
int cIndex = 0;
float dist = 0;
foreach (var link in graphPoints[index].connections)
{
if (graphPoints[link.index].isBlocked)
{
continue;
}
float comp = Mathc.SqrDist2D(PointPos(link.index), pos);
if (comp < dist)
{
dist = comp;
cIndex = link.index;
}
}
return(cIndex);
}
// Graph Navigation.
#region
void NavigateBetweenAstar(int indexA, int indexB)
{
int nextIndex = indexB;
var q = new List <int>();
int cIndex = 0;
bool foundTarget = false;
float dist = float.MaxValue;
startIndex = indexA;
finalIndex = indexB;
if (startIndex == finalIndex)
{
return;
}
ClearPointNavData();
graphPoints[indexA].navData = new GraphPoint.NavData(indexA, 0.0f);
graphPoints[indexB].navData.wasTarget = true;
foreach (var link in graphPoints[indexA].connections)
{
float comp = Mathc.SqrDist2D(PointPos(link.index), PointPos(indexB));
if (comp < dist)
{
dist = comp;
cIndex = graphPoints[indexA].connections.IndexOf(link);
}
else
{
graphPoints[link.index].navData.evaluated = true;
}
}
graphPoints[indexA].navData.evaluated = true;
dist = graphPoints[indexA].connections[cIndex].dist;
cIndex = graphPoints[indexA].connections[cIndex].index;
graphPoints[cIndex].navData = new GraphPoint.NavData(indexA, dist);
q.Add(cIndex);
while (q.Count > 0)
{
int curIndex = q[0];
if (curIndex == indexB)
{
foundTarget = true;
}
else if (graphPoints[curIndex].navData.evaluated)
{
q.Remove(curIndex);
continue;
}
cIndex = 0;
dist = float.MaxValue;
foreach (var link in graphPoints[curIndex].connections)
{
if (graphPoints[link.index].navData.evaluated)
{
continue;
}
float comp = Mathc.SqrDist2D(PointPos(link.index), PointPos(indexB));
if (comp < dist)
{
dist = comp;
cIndex = graphPoints[curIndex].connections.IndexOf(link);
}
else
{
graphPoints[link.index].navData.evaluated = true;
}
}
dist = graphPoints[curIndex].connections[cIndex].dist + graphPoints[curIndex].navData.tDist;
cIndex = graphPoints[curIndex].connections[cIndex].index;
if (dist < graphPoints[cIndex].navData.tDist)
{
graphPoints[cIndex].navData = new GraphPoint.NavData(curIndex, dist);
}
if (!foundTarget)
{
q.Add(cIndex);
}
graphPoints[curIndex].navData.evaluated = true;
q.Remove(curIndex);
}
// Record path.
q.Clear();
q.Add(nextIndex);
for (int a = 0; a < graphPoints.Count && nextIndex != indexA; a++)
{
nextIndex = graphPoints[nextIndex].navData.pIndex;
q.Add(nextIndex);
}
navPath.Clear();
for (int a = 0; a < q.Count; a++)
{
navPath.Add(q[q.Count - (a + 1)]);
}
}
