//adds a node to the graph and returns its index
public int AddNode(NavGraphNode node)
{
if ( node.Index() < nodes_.Count ) {
//make sure the client is not trying to add a node with the same ID as
//a currently active node
//DebugUtils.Assert( nodes_[node.GetIndex()].GetIndex() == NavGraphNode.invalid_node_index, "<NavGraph::AddNode>: Attempting to add a node with a duplicate ID" );
nodes_[node.Index()] = node;
return nextNodeIndex_;
} else {
//make sure the new node has been indexed correctly
DebugUtils.Assert( node.Index() == nextNodeIndex_, "<NavGraph::AddNode>:invalid index" );
nodes_.Add(node);
edges_.Add(new List<NavGraphEdge>());
return nextNodeIndex_++;
}
}
//adds a node to the graph and returns its index
public int AddNode(NavGraphNode node)
{
if (node.Index() < nodes_.Count)
{
//make sure the client is not trying to add a node with the same ID as
//a currently active node
//DebugUtils.Assert( nodes_[node.GetIndex()].GetIndex() == NavGraphNode.invalid_node_index, "<NavGraph::AddNode>: Attempting to add a node with a duplicate ID" );
nodes_[node.Index()] = node;
return(nextNodeIndex_);
}
else
{
//make sure the new node has been indexed correctly
DebugUtils.Assert(node.Index() == nextNodeIndex_, "<NavGraph::AddNode>:invalid index");
nodes_.Add(node);
edges_.Add(new List <NavGraphEdge>());
return(nextNodeIndex_++);
}
}
/// </summary>
public int SearchNonAlloc(Vector3 srcPos, Vector3 destPos, ref Stack <Vector3> pathPos)
{
NavGraphNode destNode = _graph.FindNearNode(destPos);
NavGraphNode srcNode = _graph.FindNearNode(srcPos);
NavGraphNode tempNode = null;
if (null == pathPos)
{
return(0);
}
if (true == this.PossibleLinearMove(srcPos, destPos, GlobalConstants.Layer.Mask.building))
{
if (null != pathPos)
{
pathPos.Clear();
pathPos.Push(destPos);
}
return(1);
}
_searchDFS.Init(_graph, srcNode.Index(), destNode.Index());
List <int> pathList = _searchDFS.GetPathToTarget();
//-------- chamto test --------
// string nodeChaine = "nodeChaine : ";
// foreach (int node in pathList)
// {
// nodeChaine += node + "<-";
// }
// Debug.Log (nodeChaine);
//-------- ------------ --------
pathPos.Clear();
pathPos.Push(destPos);
foreach (int node in pathList)
{
tempNode = _graph.GetNode(node) as NavGraphNode;
pathPos.Push(tempNode.Pos());
}
//pathPos.Push (srcPos);
return(pathPos.Count);
}
public Stack <Vector3> Search(Vector3 srcPos, Vector3 destPos)
{
NavGraphNode destNode = _graph.FindNearNode(destPos);
NavGraphNode srcNode = _graph.FindNearNode(srcPos);
NavGraphNode tempNode = null;
Stack <Vector3> pathPos = new Stack <Vector3>();
if (true == this.PossibleLinearMove(srcPos, destPos, GlobalConstants.Layer.Mask.building))
{
pathPos.Push(destPos);
return(pathPos);
}
_searchDFS.Init(_graph, srcNode.Index(), destNode.Index());
List <int> pathList = _searchDFS.GetPathToTarget();
//-------- chamto test --------
string nodeChaine = "nodeChaine : ";
foreach (int node in pathList)
{
nodeChaine += node + "<-";
}
Debug.Log(nodeChaine);
//-------- ------------ --------
pathPos.Push(destPos);
foreach (int node in pathList)
{
tempNode = _graph.GetNode(node) as NavGraphNode;
pathPos.Push(tempNode.Pos());
}
//pathPos.Push (srcPos);
return(pathPos);
}
