public void CalcUnitPath()
{
foreach (PathNode node in navMesh.PathNodes)
{
node.A_StarPath = false;
}
RaycastHit hit;
int fromIndex = -1, toIndex = -1;
if (Physics.Raycast(UnitAI.position, Vector3.down, out hit, Mathf.Infinity, NavMeshMask))
{
fromIndex = hit.triangleIndex;
}
//else // ********************* IF UNIT IS OFF NAVMESH FIND CLOSEST PATHNODE, OPTIMIZE PATH GETS GLITCHY WITH THIS ***************
//{
// int nearestIndex = 0;
// Vector3 localAIPosition = UnitAI.position - transform.position;
// for (int i = 0; i < navMesh.PathNodes.Count; i++)
// {
// if((navMesh.PathNodes[i].Position - localAIPosition).sqrMagnitude < (navMesh.PathNodes[nearestIndex].Position - localAIPosition).sqrMagnitude)
// {
// nearestIndex = i;
// }
// }
// fromIndex = nearestIndex;
//}
if (Physics.Raycast(TargetAI.position, Vector3.down, out hit, Mathf.Infinity, NavMeshMask))
{
toIndex = hit.triangleIndex;
}
if (fromIndex != -1 && toIndex != -1 && fromIndex != toIndex)
{
path = HelperFunctions.A_Star(navMesh.PathNodes[fromIndex], navMesh.PathNodes[toIndex], navMesh.PathNodes);
}
optimizedPath = HelperFunctions.optimizePath(path, navMesh.Edges, navMesh.PointPositions, UnitAI.position, TargetAI.position, NavMeshMask);
Vector3[] wayPoints = optimizedPath.ToArray();
for (int i = 0; i < wayPoints.Length; i++)
{
wayPoints[i] += transform.position;
}
aiScript.setPath(wayPoints);
}