public bool NextCorner1(Fix64Vec3 position, Fix64 width, ref Fix64Vec3 corner, ref int index)
{
//if corner not found stay at current position
corner = position;
if (Status != ParallelNavMeshPathStatus.Valid)
{
return(false);
}
if (index < 0)
{
index = startIndex;
}
if (index == MAX_CORNER_COUNT)
{
//reached last polygon, invalidate path
index = -1;
Status = ParallelNavMeshPathStatus.Invalid;
return(false);
}
Fix64Vec2 testPosition = new Fix64Vec2(position.x, position.z);
int polygonIndex = polygonIndexes[index];
PNavPolygon currentPolygon = island.graph.polygons[polygonIndex];
int nextIndex = index + 1;
if (nextIndex >= MAX_CORNER_COUNT)
{
//reached final polygon
index = MAX_CORNER_COUNT;
corner = Destination;
return(false);
}
int nextPolygonIndex = polygonIndexes[nextIndex];
PNavPolygon nextPolygon = island.graph.polygons[nextPolygonIndex];
PNavEdge edge = FindEdge(currentPolygon, nextPolygon, width);
if (edge != null)
{
Fix64Vec2 pointOnEdge = Fix64Math.FindNearestPointOnLine(testPosition, edge.pointA, edge.pointB);
Fix64 distanceToA = Fix64Vec2.Distance(pointOnEdge, edge.pointA);
Fix64 distanceToB = edge.width - distanceToA;
Fix64Vec2 ba = edge.pointB - edge.pointA;
ba = ba.normalized;
Fix64 halfWidth = width / Fix64.two;
if (distanceToA < halfWidth)
{
pointOnEdge = edge.pointA + ba * halfWidth;
}
else if (distanceToB < halfWidth)
{
pointOnEdge = edge.pointB - ba * halfWidth;
}
corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y);
index = nextIndex;
return(true);
}
return(false);
}
public bool NextCorner(Fix64Vec3 position, Fix64 width, ref Fix64Vec3 corner, ref int index)
{
//if corner not found stay at current position
corner = position;
if (Status != ParallelNavMeshPathStatus.Valid)
{
return(false);
}
index = BoundaryCheckIndex(index);
if (index == -1)
{
Status = ParallelNavMeshPathStatus.Invalid;
return(false);
}
Fix64Vec2 testPosition = new Fix64Vec2(position.x, position.z);
Fix64Vec2 pa = Fix64Vec2.zero;
Fix64Vec2 pb = Fix64Vec2.zero;
bool pointABSet = false;
if (polygonIndexes == null)
{
//destination polygon and start polygon is the same
index = MAX_CORNER_COUNT;
}
while (index <= MAX_CORNER_COUNT)
{
if (index == MAX_CORNER_COUNT)
{
//reached final polygon
if (pointABSet)
{
//check if destination is in the span of pa and pb
Fix64Vec2 des = new Fix64Vec2(Destination.x, Destination.z);
Fix64Vec2 vd = des - testPosition;
Fix64Vec2 va = pa - testPosition;
Fix64Vec2 vb = pb - testPosition;
bool desInSpan = Fix64Math.InSpan(vd, va, vb);
if (!desInSpan)
{
Fix64Vec2 pointOnEdge = FindNearestPointOnEdge(testPosition, pa, pb, width);
index--;
corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y);
return(true);
}
}
corner = Destination;
break;
}
int nextIndex = index + 1;
int polygonIndex = polygonIndexes[index];
PNavPolygon currentPolygon = island.graph.polygons[polygonIndex];
int nextPolygonIndex = polygonIndexes[nextIndex];
PNavPolygon nextPolygon = island.graph.polygons[nextPolygonIndex];
PNavEdge edge = FindEdge(currentPolygon, nextPolygon, width);
if (edge != null)
{
if (!pointABSet)
{
pa = edge.pointA;
pb = edge.pointB;
pointABSet = true;
}
else
{
Fix64Vec2 va = pa - testPosition;
Fix64Vec2 vb = pb - testPosition;
Fix64 AXB = Fix64Vec2.Cross(va, vb);
Fix64 BXA = Fix64Vec2.Cross(vb, va);
Fix64Vec2 pa1 = edge.pointA;
Fix64Vec2 pb1 = edge.pointB;
Fix64Vec2 va1 = pa1 - testPosition;
Fix64Vec2 vb1 = pb1 - testPosition;
Fix64 A1XB1 = Fix64Vec2.Cross(va1, vb1);
bool sameDirection = A1XB1 * AXB > Fix64.zero;
bool va1InsideOfSpan = Fix64Math.InSpan(va1, va, vb);
bool vb1InsideOfSpan = Fix64Math.InSpan(vb1, va, vb);
if (va1InsideOfSpan)
{
if (sameDirection)
{
bool valid = IsValidEdgePoint(testPosition, pb, pa1, width);
if (valid)
{
pa = pa1;
}
else
{
va1InsideOfSpan = false;
}
}
else
{
bool valid = IsValidEdgePoint(testPosition, pa, pa1, width);
if (valid)
{
pb = pa1;
}
else
{
va1InsideOfSpan = false;
}
}
}
if (vb1InsideOfSpan)
{
if (sameDirection)
{
bool valid = IsValidEdgePoint(testPosition, pa, pb1, width);
if (valid)
{
pb = pb1;
}
else
{
vb1InsideOfSpan = false;
}
}
else
{
bool valid = IsValidEdgePoint(testPosition, pb, pb1, width);
if (valid)
{
pa = pb1;
}
else
{
vb1InsideOfSpan = false;
}
}
}
if (!va1InsideOfSpan && !vb1InsideOfSpan)
{
Fix64Vec2 pointOnEdge = FindNearestPointOnEdge(testPosition, pa, pb, width);
corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y);
index--;
return(true);
}
}
}
else
{
break;
}
index = BoundaryCheckIndex(nextIndex);
}
return(false);
}
