private static void BuildPath <T>(T start, T end, Vec3 from, Vec3 to, NodeInfo info, ref List <path_pos> path) where T : Cell
{
// build result path
if (path != null)
{
List <Cell> cells_list = new List <Cell>();
while (info != null)
{
cells_list.Add(info.cell);
info = info.parent;
}
cells_list.Reverse();
for (int i = 0; i < cells_list.Count; ++i)
{
Cell cell = cells_list[i];
if (i == 0)
{
if (from.IsEmpty)
{
path.Add(new path_pos(cell.Center, cell));
}
else
{
path.Add(new path_pos(cell.AABB.Align(from), cell));
}
}
else
{
path.Add(new path_pos(cell.AABB.Align(path[path.Count - 1].pos), cell));
}
if (i == cells_list.Count - 1)
{
if (to.IsEmpty)
{
path.Add(new path_pos(cell.Center, cell));
}
else
{
path.Add(new path_pos(cell.AABB.Align(to), cell));
}
}
}
for (int k = path.Count - 2; k > 0; --k)
{
path[k] = new path_pos(path[k - 1].cell.AABB.Align(path[k + 1].pos), path[k].cell);
}
}
}
private void SmoothenPath(ref List <path_pos> path, MovementFlag flags, int skip_first_count = 0)
{
int ray_start_index = skip_first_count;
Vec3 intersection = null;
while (ray_start_index + 2 < path.Count)
{
path_pos ray_start_data = path[ray_start_index];
path_pos intermediate_data = path[ray_start_index + 1];
path_pos ray_end_data = path[ray_start_index + 2];
// try remove middle point completely
if (m_Navmesh.RayCast2D(ray_start_data.pos, ray_end_data.pos, flags, ref intersection, false))
{
path.RemoveAt(ray_start_index + 1);
}
else
{
++ray_start_index;
}
}
// perform second smoothing pass after getting rid of all unnecessary points to get better performance and results
// this pass is basically "moving" from point to point and checking at which step (in-between points) I can already see the next point
if (PathSmoothingPrecision > 0)
{
ray_start_index = skip_first_count;
while (ray_start_index + 2 < path.Count)
{
path_pos ray_start_data = path[ray_start_index];
path_pos intermediate_data = path[ray_start_index + 1];
path_pos ray_end_data = path[ray_start_index + 2];
Vec3 dir = intermediate_data.pos - ray_start_data.pos;
float length = dir.Normalize();
int steps = (int)(length / PathSmoothingPrecision);
for (int i = 1; i < steps; ++i) // checking 0 is unnecessary since this is the current path
{
if (m_Navmesh.RayCast2D(ray_start_data.pos + dir * (float)i * PathSmoothingPrecision, ray_end_data.pos, flags, ref intersection, false))
{
path[ray_start_index + 1] = new path_pos(ray_start_data.pos + dir * (float)i * PathSmoothingPrecision, intermediate_data.cell);
break;
}
}
++ray_start_index;
}
}
}
private void StraightenPath(ref List <path_pos> path, MovementFlag flags, int skip_first_count = 0)
{
int ray_start_index = skip_first_count;
while (ray_start_index + 2 < path.Count)
{
path_pos ray_start_data = path[ray_start_index];
path_pos intermediate_data = path[ray_start_index + 1];
path_pos ray_end_data = path[ray_start_index + 2];
if (m_Navmesh.RayCast2D(ray_start_data.pos, ray_end_data.pos, flags, false))
{
path.RemoveAt(ray_start_index + 1);
}
else
{
++ray_start_index;
}
}
}