public List <NavEdge> GetNeighbors(Vector2Int node)
{
List <NavEdge> neighbors = new List <NavEdge>();
Vector2Int ul = new Vector2Int(node.x - 1, node.y + 1);
Vector2Int u = new Vector2Int(node.x, node.y + 1);
Vector2Int ur = new Vector2Int(node.x + 1, node.y + 1);
Vector2Int l = new Vector2Int(node.x - 1, node.y);
Vector2Int r = new Vector2Int(node.x + 1, node.y);
Vector2Int dl = new Vector2Int(node.x - 1, node.y - 1);
Vector2Int d = new Vector2Int(node.x, node.y - 1);
Vector2Int dr = new Vector2Int(node.x + 1, node.y - 1);
//Test Up-left
if (mapModel.Traversable(ul) && !mapModel.ContainsStructure(ul) && !mapModel.HardCorners(l) && !mapModel.HardCorners(u))
{
if (mapModel.ContainsUnit(ul))
{
neighbors.Add(new NavEdge(node, ul, OBST_COST));
}
else
{
neighbors.Add(new NavEdge(node, ul, DIAG_COST));
}
}
//Test Up
if (mapModel.Traversable(u) && !mapModel.ContainsStructure(u))
{
if (mapModel.ContainsUnit(u))
{
neighbors.Add(new NavEdge(node, u, OBST_COST));
}
else
{
neighbors.Add(new NavEdge(node, u, ORTH_COST));
}
}
//Test Up-right
if (mapModel.Traversable(ur) && !mapModel.ContainsStructure(ur) && !mapModel.HardCorners(r) && !mapModel.HardCorners(u))
{
if (mapModel.ContainsUnit(ur))
{
neighbors.Add(new NavEdge(node, ur, OBST_COST));
}
else
{
neighbors.Add(new NavEdge(node, ur, ORTH_COST));
}
}
//Test Left
if (mapModel.Traversable(l) && !mapModel.ContainsStructure(l))
{
if (mapModel.ContainsUnit(l))
{
neighbors.Add(new NavEdge(node, l, OBST_COST));
}
else
{
neighbors.Add(new NavEdge(node, l, ORTH_COST));
}
}
//Test Right
if (mapModel.Traversable(r) && !mapModel.ContainsStructure(r))
{
if (mapModel.ContainsUnit(r))
{
neighbors.Add(new NavEdge(node, r, OBST_COST));
}
else
{
neighbors.Add(new NavEdge(node, r, ORTH_COST));
}
}
//Test Down-left
if (mapModel.Traversable(dl) && !mapModel.ContainsStructure(dl) && !mapModel.HardCorners(l) && !mapModel.HardCorners(d))
{
if (mapModel.ContainsUnit(dl))
{
neighbors.Add(new NavEdge(node, dl, OBST_COST));
}
else
{
neighbors.Add(new NavEdge(node, dl, DIAG_COST));
}
}
//Test Down
if (mapModel.Traversable(d) && !mapModel.ContainsStructure(d))
{
if (mapModel.ContainsUnit(d))
{
neighbors.Add(new NavEdge(node, d, OBST_COST));
}
else
{
neighbors.Add(new NavEdge(node, d, ORTH_COST));
}
}
//Test Down-right
if (mapModel.Traversable(dr) && !mapModel.ContainsStructure(dr) && !mapModel.HardCorners(r) && !mapModel.HardCorners(d))
{
if (mapModel.ContainsUnit(dr))
{
neighbors.Add(new NavEdge(node, dr, OBST_COST));
}
else
{
neighbors.Add(new NavEdge(node, dr, DIAG_COST));
}
}
return(neighbors);
}
