public void AddNeighbour(NavCubeNode current, Vector3Int end, Vector3Int dir, float cost, NavCubeType searchType, NavCubeAgent agent)
{
Vector3Int pos = current.position + dir;
NavCubeChunk.NavCubeData data = GetData(pos);
if (agent != null)
{
for (int i = 0; i < agent.height; i++)
{
int ii = i - agent.offset;
if (GetData(pos + Vector3Int.up * ii).type == NavCubeType.Blocked)
{
return;
}
}
}
else
{
if (data.type == NavCubeType.Blocked)
{
return;
}
}
float heuristic = pos.Manhattan(end);
NavCubeNode ncn = new NavCubeNode(pos, current.cost + data.cost * cost, heuristic, current);
if (closedList.Contains(ncn))
{
return;
}
if (openList.Contains(ncn))
{
NavCubeNode ol_ncn = openList.Find(x => x.position.Equals(pos));
if (ol_ncn.total > ncn.total)
{
ol_ncn.cost = ncn.cost;
ol_ncn.heuristic = ncn.heuristic;
ol_ncn.parent = ncn.parent;
}
return;
}
if (searchType == NavCubeType.Walking)
{
if (data.type == NavCubeType.Walking)
{
openList.Add(ncn);
}
}
else
{
openList.Add(ncn);
}
}
public static int Manhattan(this Vector3Int A, Vector3Int B)
{
Vector3Int vec = B - A;
return(vec.Manhattan());
}
