public Vector3[] GetSolutionPath(NIPathTerrain terrain)
{
if (!HasSuccessfullyCompleted())
{
return(null);
}
LinkedList <NNode> path = GetSolutionPath();
if (path == null || path.Count == 0)
{
return(null);
}
Vector3[] pathPoints = new Vector3[path.Count];
int i = 0;
foreach (NNode node in path)
{
Vector3 nodePos = terrain.GetPathNodePos(node.Index);
pathPoints[i] = nodePos;
i++;
}
// Set the first position to be the start position
pathPoints[0] = GetStartPos();
// Set the last position to be the goal position.
int lastIndex = Mathf.Clamp(i, 0, path.Count - 1);
System.Diagnostics.Debug.Assert(lastIndex > 1 && lastIndex < path.Count);
pathPoints[lastIndex] = GetGoalPos();
return(pathPoints);
}
public override void Start(NIPlanningWorld world)
{
base.Start(world);
System.Diagnostics.Debug.Assert(world is NIPathTerrain);
m_pathTerrain = world as NIPathTerrain;
}
public NNavTargetGameObject(GameObject targetGameObject, NIPathTerrain pathTerrain)
{
m_targetGameObject = targetGameObject;
m_pathTerrain = pathTerrain;
}
public NNavTargetPos(Vector3 targetPos, NIPathTerrain pathTerrain)
{
m_targetPos = targetPos;
m_pathTerrain = pathTerrain;
}
