public void InsertObstacleNeighbour(ObstacleVertex ob1, float rangeSq)
{
ObstacleVertex ob2 = ob1.next;
float dist = Mathfx.DistancePointSegmentStrict(ob1.position, ob2.position, Position);
if (dist < rangeSq)
{
obstacles.Add(ob1);
obstacleDists.Add(dist);
int i = obstacles.Count - 1;
while (i != 0 && dist < obstacleDists[i - 1])
{
obstacles[i] = obstacles[i - 1];
obstacleDists[i] = obstacleDists[i - 1];
i--;
}
obstacles[i] = ob1;
obstacleDists[i] = dist;
}
}
/** Called when a path has completed it's calculation */
public void OnPathComplete(Path p)
{
/*if (Time.time-lastPathSearch >= repathRate) {
* Repath ();
* } else {*/
StartCoroutine(WaitToRepath());
//}
//If the path didn't succeed, don't proceed
if (p.error)
{
return;
}
//Get the calculated path as a Vector3 array
path = p.vectorPath.ToArray();
//Find the segment in the path which is closest to the AI
//If a closer segment hasn't been found in '6' iterations, break because it is unlikely to find any closer ones then
float minDist = Mathf.Infinity;
int notCloserHits = 0;
for (int i = 0; i < path.Length - 1; i++)
{
float dist = Mathfx.DistancePointSegmentStrict(path[i], path[i + 1], tr.position);
if (dist < minDist)
{
notCloserHits = 0;
minDist = dist;
pathIndex = i + 1;
}
else if (notCloserHits > 6)
{
break;
}
}
}