public override void UpdateRecursiveG(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
GridNode[] nodes = gridGraph.nodes;
base.UpdateG(path, pathNode);
handler.heap.Add(pathNode);
ushort pathID = handler.PathID;
int nodeInGridIndex = base.NodeInGridIndex;
for (int i = 0; i < 8; i++)
{
if (this.HasConnectionInDirection(i))
{
GridNode gridNode = nodes[nodeInGridIndex + neighbourOffsets[i]];
PathNode pathNode2 = handler.GetPathNode(gridNode);
if (pathNode2.parent == pathNode && pathNode2.pathID == pathID)
{
gridNode.UpdateRecursiveG(path, pathNode2, handler);
}
}
}
base.UpdateRecursiveG(path, pathNode, handler);
}
// Token: 0x060025D1 RID: 9681 RVA: 0x001A6030 File Offset: 0x001A4230
public override Vector3 RandomPointOnSurface()
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
Vector3 a = gridGraph.transform.InverseTransform((Vector3)this.position);
return(gridGraph.transform.Transform(a + new Vector3(UnityEngine.Random.value - 0.5f, 0f, UnityEngine.Random.value - 0.5f)));
}
/** Helper method to set PathNode.flag1 to a specific value for all nodes adjacent to a grid node */
void SetFlag1OnSurroundingGridNodes(GridNode gridNode, bool flag1State)
{
// Loop through all adjacent grid nodes
var gridGraph = GridNode.GetGridGraph(gridNode.GraphIndex);
// Number of neighbours as an int
int mxnum = gridGraph.neighbours == NumNeighbours.Four ? 4 : (gridGraph.neighbours == NumNeighbours.Eight ? 8 : 6);
// Calculate the coordinates of the node
var x = gridNode.NodeInGridIndex % gridGraph.width;
var z = gridNode.NodeInGridIndex / gridGraph.width;
for (int i = 0; i < mxnum; i++)
{
int nx, nz;
if (gridGraph.neighbours == NumNeighbours.Six)
{
// Hexagon graph
nx = x + gridGraph.neighbourXOffsets[GridGraph.hexagonNeighbourIndices[i]];
nz = z + gridGraph.neighbourZOffsets[GridGraph.hexagonNeighbourIndices[i]];
}
else
{
nx = x + gridGraph.neighbourXOffsets[i];
nz = z + gridGraph.neighbourZOffsets[i];
}
// Check if the position is still inside the grid
if (nx >= 0 && nz >= 0 && nx < gridGraph.width && nz < gridGraph.depth)
{
var adjacentNode = gridGraph.nodes[nz * gridGraph.width + nx];
pathHandler.GetPathNode(adjacentNode).flag1 = flag1State;
}
}
}
public override void UpdateRecursiveG(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
GridNode[] nodes = gridGraph.nodes;
base.UpdateG(path, pathNode);
handler.PushNode(pathNode);
ushort pathID = handler.PathID;
for (int i = 0; i < 8; i++)
{
if (this.GetConnectionInternal(i))
{
GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
PathNode pathNode2 = handler.GetPathNode(gridNode);
if (pathNode2.parent == pathNode && pathNode2.pathID == pathID)
{
gridNode.UpdateRecursiveG(path, pathNode2, handler);
}
}
}
if (this.connections != null)
{
for (int j = 0; j < this.connections.Length; j++)
{
GraphNode graphNode = this.connections[j];
PathNode pathNode3 = handler.GetPathNode(graphNode);
if (pathNode3.parent == pathNode && pathNode3.pathID == pathID)
{
graphNode.UpdateRecursiveG(path, pathNode3, handler);
}
}
}
}
public override void ClearConnections(bool alsoReverse)
{
if (alsoReverse)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
for (int i = 0; i < 8; i++)
{
GridNode nodeConnection = gridGraph.GetNodeConnection(this, i);
if (nodeConnection != null)
{
nodeConnection.SetConnectionInternal((i >= 4) ? 7 : ((i + 2) % 4), false);
}
}
}
this.ResetConnectionsInternal();
if (alsoReverse && this.connections != null)
{
for (int j = 0; j < this.connections.Length; j++)
{
this.connections[j].RemoveConnection(this);
}
}
this.connections = null;
this.connectionCosts = null;
}
public override void GetConnections(GraphNodeDelegate del)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 8; i++)
{
if (this.GetConnectionInternal(i))
{
GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
if (gridNode != null)
{
del(gridNode);
}
}
}
if (this.connections != null)
{
for (int j = 0; j < this.connections.Length; j++)
{
del(this.connections[j]);
}
}
}
public override void FloodFill(Stack <GraphNode> stack, uint region)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 8; i++)
{
if (this.GetConnectionInternal(i))
{
GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
if (gridNode != null && gridNode.Area != region)
{
gridNode.Area = region;
stack.Push(gridNode);
}
}
}
if (this.connections != null)
{
for (int j = 0; j < this.connections.Length; j++)
{
GraphNode graphNode = this.connections[j];
if (graphNode.Area != region)
{
graphNode.Area = region;
stack.Push(graphNode);
}
}
}
}
public Vector3 Point2GraphSpace(float height)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int num = this.nodeInGridIndex % gridGraph.width;
int num2 = this.nodeInGridIndex / gridGraph.width;
return(new Vector3((float)num, height, (float)num2));
}
public override Vector3 RandomPointOnSurface()
{
GridGraph gg = GridNode.GetGridGraph(GraphIndex);
var graphSpacePosition = gg.transform.InverseTransform((Vector3)position);
return(gg.transform.Transform(graphSpacePosition + new Vector3(Random.value - 0.5f, 0, Random.value - 0.5f)));
}
public override GridNodeBase GetNeighbourAlongDirection(int direction)
{
if (this.HasConnectionInDirection(direction))
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
return(gridGraph.nodes[base.NodeInGridIndex + gridGraph.neighbourOffsets[direction]]);
}
return(null);
}
public override bool GetPortal(GraphNode other, List <Vector3> left, List <Vector3> right, bool backwards)
{
if (backwards)
{
return(true);
}
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 4; i++)
{
if (this.GetConnectionInternal(i) && other == nodes[this.nodeInGridIndex + neighbourOffsets[i]])
{
Vector3 a = (Vector3)(this.position + other.position) * 0.5f;
Vector3 vector = Vector3.Cross(gridGraph.collision.up, (Vector3)(other.position - this.position));
vector.Normalize();
vector *= gridGraph.nodeSize * 0.5f;
left.Add(a - vector);
right.Add(a + vector);
return(true);
}
}
for (int j = 4; j < 8; j++)
{
if (this.GetConnectionInternal(j) && other == nodes[this.nodeInGridIndex + neighbourOffsets[j]])
{
bool flag = false;
bool flag2 = false;
if (this.GetConnectionInternal(j - 4))
{
GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[j - 4]];
if (gridNode.Walkable && gridNode.GetConnectionInternal((j - 4 + 1) % 4))
{
flag = true;
}
}
if (this.GetConnectionInternal((j - 4 + 1) % 4))
{
GridNode gridNode2 = nodes[this.nodeInGridIndex + neighbourOffsets[(j - 4 + 1) % 4]];
if (gridNode2.Walkable && gridNode2.GetConnectionInternal(j - 4))
{
flag2 = true;
}
}
Vector3 a2 = (Vector3)(this.position + other.position) * 0.5f;
Vector3 vector2 = Vector3.Cross(gridGraph.collision.up, (Vector3)(other.position - this.position));
vector2.Normalize();
vector2 *= gridGraph.nodeSize * 1.4142f;
left.Add(a2 - ((!flag2) ? Vector3.zero : vector2));
right.Add(a2 + ((!flag) ? Vector3.zero : vector2));
return(true);
}
}
return(false);
}
//GG
//public override Vector3 RandomPointOnSurface () {
public override VInt3 RandomPointOnSurface()
{
GridGraph gg = GridNode.GetGridGraph(GraphIndex);
//GG
//var graphSpacePosition = gg.transform.InverseTransform((Vector3)position);
var graphSpacePosition = gg.transform.InverseTransform(position);
//GG
//return gg.transform.Transform(graphSpacePosition + new Vector3(Random.value - 0.5f, 0, Random.value - 0.5f));
return(gg.transform.Transform(graphSpacePosition + new VInt3(VRandom.Random(1, 1000) - 500, 0, VRandom.Random(1, 1000) - 500)));
}
// Token: 0x06002568 RID: 9576 RVA: 0x0019FE30 File Offset: 0x0019E030
public Vector3 ClosestPointOnNode(Vector3 p)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
p = gridGraph.transform.InverseTransform(p);
int num = base.NodeInGridIndex % gridGraph.width;
int num2 = base.NodeInGridIndex / gridGraph.width;
float y = gridGraph.transform.InverseTransform((Vector3)this.position).y;
Vector3 point = new Vector3(Mathf.Clamp(p.x, (float)num, (float)num + 1f), y, Mathf.Clamp(p.z, (float)num2, (float)num2 + 1f));
return(gridGraph.transform.Transform(point));
}
public Vector3 ClosestPointOnNode(Vector3 p)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
p = gridGraph.inverseMatrix.MultiplyPoint3x4(p);
float value = (float)this.position.x - 0.5f;
float value2 = (float)this.position.z - 0.5f;
int num = this.nodeInGridIndex % gridGraph.width;
int num2 = this.nodeInGridIndex / gridGraph.width;
float y = gridGraph.inverseMatrix.MultiplyPoint3x4(p).y;
Vector3 v = new Vector3(Mathf.Clamp(value, (float)num - 0.5f, (float)num + 0.5f) + 0.5f, y, Mathf.Clamp(value2, (float)num2 - 0.5f, (float)num2 + 0.5f) + 0.5f);
return(gridGraph.matrix.MultiplyPoint3x4(v));
}
public Vector3 ClosestPointOnNode(Vector3 p)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
p = gridGraph.transform.InverseTransform(p);
float value = (float)this.position.x - 0.5f;
float value2 = (float)this.position.z - 0.5f;
int num = base.NodeInGridIndex % gridGraph.width;
int num2 = base.NodeInGridIndex / gridGraph.width;
float y = gridGraph.transform.InverseTransform((Vector3)this.position).y;
Vector3 p2 = new Vector3(Mathf.Clamp(value, (float)num - 0.5f, (float)num + 0.5f) + 0.5f, y, Mathf.Clamp(value2, (float)num2 - 0.5f, (float)num2 + 0.5f) + 0.5f);
return(gridGraph.transform.Transform(p2));
}
/// <summary>Helper method to set PathNode.flag1 to a specific value for all nodes adjacent to a grid node</summary>
private void SetFlagOnSurroundingGridNodes(GridNode gridNode, int flag, bool flagState)
{
// Loop through all adjacent grid nodes
var gridGraph = GridNode.GetGridGraph(gridNode.GraphIndex);
// Number of neighbours as an int
var mxnum = gridGraph.neighbours == NumNeighbours.Four ? 4 :
gridGraph.neighbours == NumNeighbours.Eight ? 8 : 6;
// Calculate the coordinates of the node
var x = gridNode.NodeInGridIndex % gridGraph.width;
var z = gridNode.NodeInGridIndex / gridGraph.width;
if (flag != 1 && flag != 2)
{
throw new System.ArgumentOutOfRangeException("flag");
}
for (var i = 0; i < mxnum; i++)
{
int nx, nz;
if (gridGraph.neighbours == NumNeighbours.Six)
{
// Hexagon graph
nx = x + gridGraph.neighbourXOffsets[GridGraph.hexagonNeighbourIndices[i]];
nz = z + gridGraph.neighbourZOffsets[GridGraph.hexagonNeighbourIndices[i]];
}
else
{
nx = x + gridGraph.neighbourXOffsets[i];
nz = z + gridGraph.neighbourZOffsets[i];
}
// Check if the position is still inside the grid
if (nx >= 0 && nz >= 0 && nx < gridGraph.width && nz < gridGraph.depth)
{
var adjacentNode = gridGraph.nodes[nz * gridGraph.width + nx];
var pathNode = pathHandler.GetPathNode(adjacentNode);
if (flag == 1)
{
pathNode.flag1 = flagState;
}
else
{
pathNode.flag2 = flagState;
}
}
}
}
// Token: 0x060004E2 RID: 1250 RVA: 0x0002AB84 File Offset: 0x00028F84
public override void ClearConnections(bool alsoReverse)
{
if (alsoReverse)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
for (int i = 0; i < 8; i++)
{
GridNode nodeConnection = gridGraph.GetNodeConnection(this, i);
if (nodeConnection != null)
{
nodeConnection.SetConnectionInternal((i >= 4) ? 7 : ((i + 2) % 4), false);
}
}
}
this.ResetConnectionsInternal();
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
ushort pathID = handler.PathID;
int[] neighbourOffsets = gridGraph.neighbourOffsets;
uint[] neighbourCosts = gridGraph.neighbourCosts;
GridNode[] nodes = gridGraph.nodes;
int nodeInGridIndex = base.NodeInGridIndex;
for (int i = 0; i < 8; i++)
{
if (this.HasConnectionInDirection(i))
{
GridNode gridNode = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (path.CanTraverse(gridNode))
{
PathNode pathNode2 = handler.GetPathNode(gridNode);
uint num = neighbourCosts[i];
if (pathNode2.pathID != pathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = pathID;
pathNode2.cost = num;
pathNode2.H = path.CalculateHScore(gridNode);
gridNode.UpdateG(path, pathNode2);
handler.heap.Add(pathNode2);
}
else if (pathNode.G + num + path.GetTraversalCost(gridNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
gridNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
base.Open(path, pathNode, handler);
}
// Token: 0x06002567 RID: 9575 RVA: 0x0019FDDC File Offset: 0x0019DFDC
public override void GetConnections(Action <GraphNode> action)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 8; i++)
{
if (this.HasConnectionInDirection(i))
{
GridNode gridNode = nodes[base.NodeInGridIndex + neighbourOffsets[i]];
if (gridNode != null)
{
action(gridNode);
}
}
}
}
public override bool ContainsConnection(GraphNode node)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 8; i++)
{
if (this.GetConnectionInternal(i))
{
GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
if (gridNode == node)
{
return(true);
}
}
}
return(false);
}
// Token: 0x0600256A RID: 9578 RVA: 0x001A0104 File Offset: 0x0019E304
public override void FloodFill(Stack <GraphNode> stack, uint region)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
GridNode[] nodes = gridGraph.nodes;
int nodeInGridIndex = base.NodeInGridIndex;
for (int i = 0; i < 8; i++)
{
if (this.HasConnectionInDirection(i))
{
GridNode gridNode = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (gridNode != null && gridNode.Area != region)
{
gridNode.Area = region;
stack.Push(gridNode);
}
}
}
}
private void SetFlagOnSurroundingGridNodes(GridNode gridNode, int flag, bool flagState)
{
GridGraph gridGraph = GridNode.GetGridGraph(gridNode.GraphIndex);
int num = (gridGraph.neighbours != NumNeighbours.Four) ? ((gridGraph.neighbours != NumNeighbours.Eight) ? 6 : 8) : 4;
int num2 = gridNode.NodeInGridIndex % gridGraph.width;
int num3 = gridNode.NodeInGridIndex / gridGraph.width;
if ((flag != 1) && (flag != 2))
{
throw new ArgumentOutOfRangeException("flag");
}
for (int i = 0; i < num; i++)
{
int num5;
int num6;
if (gridGraph.neighbours == NumNeighbours.Six)
{
num5 = num2 + gridGraph.neighbourXOffsets[GridGraph.hexagonNeighbourIndices[i]];
num6 = num3 + gridGraph.neighbourZOffsets[GridGraph.hexagonNeighbourIndices[i]];
}
else
{
num5 = num2 + gridGraph.neighbourXOffsets[i];
num6 = num3 + gridGraph.neighbourZOffsets[i];
}
if (((num5 >= 0) && (num6 >= 0)) && ((num5 < gridGraph.width) && (num6 < gridGraph.depth)))
{
GridNode node = gridGraph.nodes[(num6 * gridGraph.width) + num5];
PathNode pathNode = base.pathHandler.GetPathNode(node);
if (flag == 1)
{
pathNode.flag1 = flagState;
}
else
{
pathNode.flag2 = flagState;
}
}
}
}
// Token: 0x06002719 RID: 10009 RVA: 0x001AF3CC File Offset: 0x001AD5CC
private void SetFlagOnSurroundingGridNodes(GridNode gridNode, int flag, bool flagState)
{
GridGraph gridGraph = GridNode.GetGridGraph(gridNode.GraphIndex);
int num = (gridGraph.neighbours == NumNeighbours.Four) ? 4 : ((gridGraph.neighbours == NumNeighbours.Eight) ? 8 : 6);
int num2 = gridNode.NodeInGridIndex % gridGraph.width;
int num3 = gridNode.NodeInGridIndex / gridGraph.width;
if (flag != 1 && flag != 2)
{
throw new ArgumentOutOfRangeException("flag");
}
for (int i = 0; i < num; i++)
{
int num4;
int num5;
if (gridGraph.neighbours == NumNeighbours.Six)
{
num4 = num2 + gridGraph.neighbourXOffsets[GridGraph.hexagonNeighbourIndices[i]];
num5 = num3 + gridGraph.neighbourZOffsets[GridGraph.hexagonNeighbourIndices[i]];
}
else
{
num4 = num2 + gridGraph.neighbourXOffsets[i];
num5 = num3 + gridGraph.neighbourZOffsets[i];
}
if (num4 >= 0 && num5 >= 0 && num4 < gridGraph.width && num5 < gridGraph.depth)
{
GridNode node = gridGraph.nodes[num5 * gridGraph.width + num4];
PathNode pathNode = this.pathHandler.GetPathNode(node);
if (flag == 1)
{
pathNode.flag1 = flagState;
}
else
{
pathNode.flag2 = flagState;
}
}
}
}
/** Applies a special case for grid nodes.
*
* Assume the closest walkable node is a grid node.
* We will now apply a special case only for grid graphs.
* In tile based games, an obstacle often occupies a whole
* node. When a path is requested to the position of an obstacle
* (single unwalkable node) the closest walkable node will be
* one of the 8 nodes surrounding that unwalkable node
* but that node is not neccessarily the one that is most
* optimal to walk to so in this special case
* we mark all nodes around the unwalkable node as targets
* and when we search and find any one of them we simply exit
* and set that first node we found to be the 'real' end node
* because that will be the optimal node (this does not apply
* in general unless the heuristic is set to None, but
* for a single unwalkable node it does).
* This also applies if the nearest node cannot be traversed for
* some other reason like restricted tags.
*
* \returns True if the workaround was applied. If this happens the
* endPoint, endNode, hTarget and hTargetNode fields will be modified.
*
* Image below shows paths when this special case is applied. The path goes from the white sphere to the blue orange box.
* \shadowimage{abpath_grid_special.gif}
*
* Image below shows paths when this special case has been disabled
* \shadowimage{abpath_grid_not_special.gif}
*/
protected virtual bool EndPointGridGraphSpecialCase(GraphNode closestWalkableEndNode)
{
var gridNode = closestWalkableEndNode as GridNode;
if (gridNode != null)
{
var gridGraph = GridNode.GetGridGraph(gridNode.GraphIndex);
// Find the closest node, not neccessarily walkable
var endNNInfo2 = AstarPath.active.GetNearest(originalEndPoint, NNConstraint.None, endHint);
var gridNode2 = endNNInfo2.node as GridNode;
if (gridNode != gridNode2 && gridNode2 != null && gridNode.GraphIndex == gridNode2.GraphIndex)
{
// Calculate the coordinates of the nodes
var x1 = gridNode.NodeInGridIndex % gridGraph.width;
var z1 = gridNode.NodeInGridIndex / gridGraph.width;
var x2 = gridNode2.NodeInGridIndex % gridGraph.width;
var z2 = gridNode2.NodeInGridIndex / gridGraph.width;
bool wasClose = false;
switch (gridGraph.neighbours)
{
case NumNeighbours.Four:
if ((x1 == x2 && System.Math.Abs(z1 - z2) == 1) || (z1 == z2 && System.Math.Abs(x1 - x2) == 1))
{
// If 'O' is gridNode2, then gridNode is one of the nodes marked with an 'x'
// x
// x O x
// x
wasClose = true;
}
break;
case NumNeighbours.Eight:
if (System.Math.Abs(x1 - x2) <= 1 && System.Math.Abs(z1 - z2) <= 1)
{
// If 'O' is gridNode2, then gridNode is one of the nodes marked with an 'x'
// x x x
// x O x
// x x x
wasClose = true;
}
break;
case NumNeighbours.Six:
// Hexagon graph
for (int i = 0; i < 6; i++)
{
var nx = x2 + gridGraph.neighbourXOffsets[GridGraph.hexagonNeighbourIndices[i]];
var nz = z2 + gridGraph.neighbourZOffsets[GridGraph.hexagonNeighbourIndices[i]];
if (x1 == nx && z1 == nz)
{
// If 'O' is gridNode2, then gridNode is one of the nodes marked with an 'x'
// x x
// x O x
// x x
wasClose = true;
break;
}
}
break;
default:
// Should not happen unless NumNeighbours is modified in the future
throw new System.Exception("Unhandled NumNeighbours");
}
if (wasClose)
{
// We now need to find all nodes marked with an x to be able to mark them as targets
SetFlagOnSurroundingGridNodes(gridNode2, 1, true);
// Note, other methods assume hTarget is (Int3)endPoint
endPoint = (Vector3)gridNode2.position;
hTarget = gridNode2.position;
endNode = gridNode2;
// hTargetNode is used for heuristic optimizations
// (also known as euclidean embedding).
// Even though the endNode is not walkable
// we can use it for better heuristics since
// there is a workaround added (EuclideanEmbedding.ApplyGridGraphEndpointSpecialCase)
// which is there to support this case.
hTargetNode = endNode;
// We need to save this node
// so that we can reset flag1 on all nodes later
gridSpecialCaseNode = gridNode2;
return(true);
}
}
}
return(false);
}
/** Returns randomly selected points on the specified nodes with each point being separated by \a clearanceRadius from each other.
* Selecting points ON the nodes only works for TriangleMeshNode (used by Recast Graph and Navmesh Graph) and GridNode (used by GridGraph).
* For other node types, only the positions of the nodes will be used.
*
* clearanceRadius will be reduced if no valid points can be found.
*/
public static List<Vector3> GetPointsOnNodes (List<GraphNode> nodes, int count, float clearanceRadius = 0) {
if (nodes == null) throw new ArgumentNullException ("nodes");
if (nodes.Count == 0) throw new ArgumentException ("no nodes passed");
var rnd = new System.Random();
var pts = ListPool<Vector3>.Claim(count);
// Square
clearanceRadius *= clearanceRadius;
if (nodes[0] is TriangleMeshNode || nodes[0] is GridNode) {
//Assume all nodes are triangle nodes or grid nodes
var accs = ListPool<float>.Claim(nodes.Count);
float tot = 0;
for (var i=0;i<nodes.Count;i++) {
var tnode = nodes[i] as TriangleMeshNode;
if (tnode != null) {
float a = Math.Abs(Polygon.TriangleArea(tnode.GetVertex(0), tnode.GetVertex(1), tnode.GetVertex(2)));
tot += a;
accs.Add (tot);
}
else {
var gnode = nodes[i] as GridNode;
if (gnode != null) {
var gg = GridNode.GetGridGraph (gnode.GraphIndex);
var a = gg.nodeSize*gg.nodeSize;
tot += a;
accs.Add (tot);
} else {
accs.Add(tot);
}
}
}
for (var i=0;i<count;i++) {
//Pick point
var testCount = 0;
var testLimit = 10;
var worked = false;
while (!worked) {
worked = true;
//If no valid points can be found, progressively lower the clearance radius until such a point is found
if (testCount >= testLimit) {
clearanceRadius *= 0.8f;
testLimit += 10;
if (testLimit > 100) clearanceRadius = 0;
}
var tg = (float)rnd.NextDouble()*tot;
var v = accs.BinarySearch(tg);
if (v < 0) v = ~v;
if (v >= nodes.Count) {
// This shouldn't happen, due to NextDouble being smaller than 1... but I don't trust floating point arithmetic.
worked = false;
continue;
}
var node = nodes[v] as TriangleMeshNode;
Vector3 p;
if (node != null) {
// Find a random point inside the triangle
float v1;
float v2;
do {
v1 = (float)rnd.NextDouble();
v2 = (float)rnd.NextDouble();
} while (v1+v2 > 1);
p = ((Vector3)(node.GetVertex(1)-node.GetVertex(0)))*v1 + ((Vector3)(node.GetVertex(2)-node.GetVertex(0)))*v2 + (Vector3)node.GetVertex(0);
} else {
var gnode = nodes[v] as GridNode;
if (gnode != null) {
var gg = GridNode.GetGridGraph (gnode.GraphIndex);
var v1 = (float)rnd.NextDouble();
var v2 = (float)rnd.NextDouble();
p = (Vector3)gnode.position + new Vector3(v1 - 0.5f, 0, v2 - 0.5f) * gg.nodeSize;
} else
{
//Point nodes have no area, so we break directly instead
pts.Add ((Vector3)nodes[v].position);
break;
}
}
// Test if it is some distance away from the other points
if (clearanceRadius > 0) {
for (var j=0;j<pts.Count;j++) {
if ((pts[j]-p).sqrMagnitude < clearanceRadius) {
worked = false;
break;
}
}
}
if (worked) {
pts.Add (p);
break;
} else {
testCount++;
}
}
}
ListPool<float>.Release(accs);
} else {
for (var i=0;i<count;i++) {
pts.Add ((Vector3)nodes[rnd.Next (nodes.Count)].position);
}
}
return pts;
}
public override Vector3 RandomPointOnSurface()
{
GridGraph gg = GridNode.GetGridGraph(GraphIndex);
return((Vector3)position + new Vector3(Random.value - 0.5f, 0, Random.value - 0.5f) * gg.nodeSize);
}
public override float SurfaceArea()
{
GridGraph gg = GridNode.GetGridGraph(GraphIndex);
return(gg.nodeSize * gg.nodeSize);
}
// Token: 0x060025D0 RID: 9680 RVA: 0x001A6008 File Offset: 0x001A4208
public override float SurfaceArea()
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
return(gridGraph.nodeSize * gridGraph.nodeSize);
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
ushort pathID = handler.PathID;
int[] neighbourOffsets = gridGraph.neighbourOffsets;
uint[] neighbourCosts = gridGraph.neighbourCosts;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 8; i++)
{
if (this.GetConnectionInternal(i))
{
GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
if (path.CanTraverse(gridNode))
{
PathNode pathNode2 = handler.GetPathNode(gridNode);
uint num = neighbourCosts[i];
if (pathNode2.pathID != pathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = pathID;
pathNode2.cost = num;
pathNode2.H = path.CalculateHScore(gridNode);
gridNode.UpdateG(path, pathNode2);
handler.PushNode(pathNode2);
}
else if (pathNode.G + num + path.GetTraversalCost(gridNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
gridNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
if (this.connections != null)
{
for (int j = 0; j < this.connections.Length; j++)
{
GraphNode graphNode = this.connections[j];
if (path.CanTraverse(graphNode))
{
PathNode pathNode3 = handler.GetPathNode(graphNode);
uint num2 = this.connectionCosts[j];
if (pathNode3.pathID != pathID)
{
pathNode3.parent = pathNode;
pathNode3.pathID = pathID;
pathNode3.cost = num2;
pathNode3.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode3);
handler.PushNode(pathNode3);
}
else if (pathNode.G + num2 + path.GetTraversalCost(graphNode) < pathNode3.G)
{
pathNode3.cost = num2;
pathNode3.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode3, handler);
}
else if (pathNode3.G + num2 + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
{
pathNode.parent = pathNode3;
pathNode.cost = num2;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
/** Returns randomly selected points on the specified nodes with each point being separated by \a clearanceRadius from each other.
* Selecting points ON the nodes only works for TriangleMeshNode (used by Recast Graph and Navmesh Graph) and GridNode (used by GridGraph).
* For other node types, only the positions of the nodes will be used.
*
* clearanceRadius will be reduced if no valid points can be found.
*/
public static List <Vector3> GetPointsOnNodes(List <GraphNode> nodes, int count, float clearanceRadius = 0)
{
if (nodes == null)
{
throw new System.ArgumentNullException("nodes");
}
if (nodes.Count == 0)
{
throw new System.ArgumentException("no nodes passed");
}
var rnd = new System.Random();
List <Vector3> pts = ListPool <Vector3> .Claim(count);
// Square
clearanceRadius *= clearanceRadius;
if (nodes[0] is TriangleMeshNode
#if !ASTAR_NO_GRID_GRAPH
|| nodes[0] is GridNode
#endif
)
{
// Accumulated area of all nodes
List <float> accs = ListPool <float> .Claim(nodes.Count);
// Total area of all nodes so far
float tot = 0;
for (int i = 0; i < nodes.Count; i++)
{
var tnode = nodes[i] as TriangleMeshNode;
if (tnode != null)
{
/** \bug Doesn't this need to be divided by 2? */
float a = System.Math.Abs(VectorMath.SignedTriangleAreaTimes2XZ(tnode.GetVertex(0), tnode.GetVertex(1), tnode.GetVertex(2)));
tot += a;
accs.Add(tot);
}
#if !ASTAR_NO_GRID_GRAPH
else
{
var gnode = nodes[i] as GridNode;
if (gnode != null)
{
GridGraph gg = GridNode.GetGridGraph(gnode.GraphIndex);
float a = gg.nodeSize * gg.nodeSize;
tot += a;
accs.Add(tot);
}
else
{
accs.Add(tot);
}
}
#endif
}
for (int i = 0; i < count; i++)
{
//Pick point
int testCount = 0;
int testLimit = 10;
bool worked = false;
while (!worked)
{
worked = true;
//If no valid points can be found, progressively lower the clearance radius until such a point is found
if (testCount >= testLimit)
{
clearanceRadius *= 0.8f;
testLimit += 10;
if (testLimit > 100)
{
clearanceRadius = 0;
}
}
// Pick a random node among the ones in the list weighted by their area
float tg = (float)rnd.NextDouble() * tot;
int v = accs.BinarySearch(tg);
if (v < 0)
{
v = ~v;
}
if (v >= nodes.Count)
{
// This shouldn't happen, due to NextDouble being smaller than 1... but I don't trust floating point arithmetic.
worked = false;
continue;
}
var node = nodes[v] as TriangleMeshNode;
Vector3 p;
if (node != null)
{
// Find a random point inside the triangle
// This generates uniformly distributed trilinear coordinates
// See http://mathworld.wolfram.com/TrianglePointPicking.html
float v1;
float v2;
do
{
v1 = (float)rnd.NextDouble();
v2 = (float)rnd.NextDouble();
} while (v1 + v2 > 1);
// Pick the point corresponding to the trilinear coordinate
p = ((Vector3)(node.GetVertex(1) - node.GetVertex(0))) * v1 + ((Vector3)(node.GetVertex(2) - node.GetVertex(0))) * v2 + (Vector3)node.GetVertex(0);
}
else
{
#if !ASTAR_NO_GRID_GRAPH
var gnode = nodes[v] as GridNode;
if (gnode != null)
{
GridGraph gg = GridNode.GetGridGraph(gnode.GraphIndex);
float v1 = (float)rnd.NextDouble();
float v2 = (float)rnd.NextDouble();
p = (Vector3)gnode.position + new Vector3(v1 - 0.5f, 0, v2 - 0.5f) * gg.nodeSize;
}
else
#endif
{
//Point nodes have no area, so we break directly instead
pts.Add((Vector3)nodes[v].position);
break;
}
}
// Test if it is some distance away from the other points
if (clearanceRadius > 0)
{
for (int j = 0; j < pts.Count; j++)
{
if ((pts[j] - p).sqrMagnitude < clearanceRadius)
{
worked = false;
break;
}
}
}
if (worked)
{
pts.Add(p);
break;
}
testCount++;
}
}
ListPool <float> .Release(accs);
}
else
{
for (int i = 0; i < count; i++)
{
pts.Add((Vector3)nodes[rnd.Next(nodes.Count)].position);
}
}
return(pts);
}