/** Adds obstacles for a graph */
public void AddGraphObstacles (Simulator sim, NavGraph graph) {
if (obstacles.Count > 0 && lastSim != null && lastSim != sim) {
Debug.LogError ("Simulator has changed but some old obstacles are still added for the previous simulator. Deleting previous obstacles.");
RemoveObstacles ();
}
//Remember which simulator these obstacles were added to
lastSim = sim;
INavmesh ng = graph as INavmesh;
if (ng == null) return;
//Assume less than 20 vertices per node (actually assumes 3, but I will change that some day)
int[] uses = new int[20];
ng.GetNodes (delegate(GraphNode _node) {
TriangleMeshNode node = _node as TriangleMeshNode;
uses[0] = uses[1] = uses[2] = 0;
if (node != null) {
//Find out which edges are shared with other nodes
for (int j=0;j<node.connections.Length;j++) {
TriangleMeshNode other = node.connections[j] as TriangleMeshNode;
// Not necessarily a TriangleMeshNode
if (other != null) {
int a = node.SharedEdge(other);
if (a != -1) uses[a] = 1;
}
}
//Loop through all edges on the node
for (int j=0;j<3;j++) {
//The edge is not shared with any other node
//I.e it is an exterior edge on the mesh
if (uses[j] == 0) {
//The two vertices of the edge
Vector3 v1 = (Vector3)node.GetVertex(j);
Vector3 v2 = (Vector3)node.GetVertex((j+1) % node.GetVertexCount());
//I think node vertices always should be clockwise, but it's good to be certain
/*if (!Polygon.IsClockwise (v1,v2,(Vector3)node.GetVertex((j+2) % node.GetVertexCount()))) {
Vector3 tmp = v2;
v2 = v1;
v1 = tmp;
}*/
#if ASTARDEBUG
Debug.DrawLine (v1,v2,Color.red);
Debug.DrawRay (v1,Vector3.up*wallHeight,Color.red);
#endif
//Find out the height of the wall/obstacle we are about to add
float height = System.Math.Abs(v1.y-v2.y);
height = System.Math.Max (height,5);
//Enqueue the edge as a line obstacle
obstacles.Add (sim.AddObstacle (v1, v2, wallHeight));
}
}
}
return true;
});
}
