public SpatialNode Rebuild(RebuildRequest[] obstacleRequests)
{
SpatialNode rootCopy = root;
HashSet <SpatialNode> currentNodes = new HashSet <SpatialNode>();
List <Vector3> allVertices = new List <Vector3>();
foreach (var o in obstacleRequests)
{
List <Vector3> worldSpaceVertices = new List <Vector3>(o.vertices);
for (int i = 0; i < o.vertices.Count; i++)
{
currentNodes.Add((SpatialNode)rootCopy.NodeAt(o.position + o.rotation * o.vertices[i]));
worldSpaceVertices[i] = o.position + o.rotation * o.vertices[i];
}
allVertices.AddRange(worldSpaceVertices);
}
HashSet <SpatialNode> newNodes = new HashSet <SpatialNode>(currentNodes);
newNodes.ExceptWith(nodeBuffer);
HashSet <SpatialNode> old = new HashSet <SpatialNode>(nodeBuffer);
old.ExceptWith(currentNodes);
newNodes.UnionWith(old);
HashSet <SpatialNode> parents = new HashSet <SpatialNode>();
foreach (var n in newNodes)
{
parents.Add(LargestNonStaticParent(n));
}
foreach (var n in parents)
{
n.Rebuild(allVertices);
}
currentNodes = new HashSet <SpatialNode>();
foreach (var o in obstacleRequests)
{
for (int i = 0; i < o.vertices.Count; i++)
{
currentNodes.Add((SpatialNode)rootCopy.NodeAt(o.position + o.rotation * o.vertices[i]));
}
allVertices.AddRange(o.vertices);
}
nodeBuffer = currentNodes;
return(rootCopy);
}
public INavigable NodeAt(Vector3 position)
{
return(root.NodeAt(position));
}
