/**
* Returns the nearest node to a position using the specified NNConstraint.
* Searches through all graphs for their nearest nodes to the specified position and picks the closest one.
* The NNConstraint can be used to specify constraints on which nodes can be chosen such as only picking walkable nodes.
* \see Pathfinding.NNConstraint
*/
public static NNInfo GetNearest(Vector3 position, NNConstraint constraint, GraphNode hint)
{
// Cache property lookup
var localGraphs = GetConfig().graphs;
float minDist = float.PositiveInfinity;
NNInfoInternal nearestNode = new NNInfoInternal();
int nearestGraph = -1;
if (localGraphs != null)
{
for (int i = 0; i < localGraphs.Length; i++)
{
NavGraph graph = localGraphs[i];
// Check if this graph should be searched
if (graph == null || !constraint.SuitableGraph(i, graph))
{
continue;
}
NNInfoInternal nnInfo;
if (GetConfig().fullGetNearestSearch)
{
// Slower nearest node search
// this will try to find a node which is suitable according to the constraint
nnInfo = graph.GetNearestForce(position, constraint);
}
else
{
// Fast nearest node search
// just find a node close to the position without using the constraint that much
// (unless that comes essentially 'for free')
nnInfo = graph.GetNearest(position, constraint);
}
GraphNode node = nnInfo.node;
// No node found in this graph
if (node == null)
{
continue;
}
// Distance to the closest point on the node from the requested position
float dist = ((Vector3)nnInfo.clampedPosition - position).magnitude;
if (GetConfig().prioritizeGraphs&& dist < GetConfig().prioritizeGraphsLimit)
{
// The node is close enough, choose this graph and discard all others
minDist = dist;
nearestNode = nnInfo;
nearestGraph = i;
break;
}
else
{
// Choose the best node found so far
if (dist < minDist)
{
minDist = dist;
nearestNode = nnInfo;
nearestGraph = i;
}
}
}
}
// No matches found
if (nearestGraph == -1)
{
return(new NNInfo());
}
// Check if a constrained node has already been set
if (nearestNode.constrainedNode != null)
{
nearestNode.node = nearestNode.constrainedNode;
nearestNode.clampedPosition = nearestNode.constClampedPosition;
}
if (!GetConfig().fullGetNearestSearch&& nearestNode.node != null && !constraint.Suitable(nearestNode.node))
{
// Otherwise, perform a check to force the graphs to check for a suitable node
NNInfoInternal nnInfo = localGraphs[nearestGraph].GetNearestForce(position, constraint);
if (nnInfo.node != null)
{
nearestNode = nnInfo;
}
}
if (!constraint.Suitable(nearestNode.node) || (constraint.constrainDistance &&
(nearestNode.clampedPosition - position).sqrMagnitude > GetConfig().maxNearestNodeDistanceSqr))
{
return(new NNInfo());
}
// Convert to NNInfo which doesn't have all the internal fields
return(new NNInfo(nearestNode));
}
public NNInfo GetNearest(Vector3 position, NNConstraint constraint, GraphNode hint)
{
NavGraph[] graphs = this.graphs;
float num = float.PositiveInfinity;
NNInfoInternal nninfoInternal = default(NNInfoInternal);
int num2 = -1;
if (graphs != null)
{
for (int i = 0; i < graphs.Length; i++)
{
NavGraph navGraph = graphs[i];
if (navGraph != null && constraint.SuitableGraph(i, navGraph))
{
NNInfoInternal nninfoInternal2;
if (this.fullGetNearestSearch)
{
nninfoInternal2 = navGraph.GetNearestForce(position, constraint);
}
else
{
nninfoInternal2 = navGraph.GetNearest(position, constraint);
}
if (nninfoInternal2.node != null)
{
float magnitude = (nninfoInternal2.clampedPosition - position).magnitude;
if (this.prioritizeGraphs && magnitude < this.prioritizeGraphsLimit)
{
nninfoInternal = nninfoInternal2;
num2 = i;
break;
}
if (magnitude < num)
{
num = magnitude;
nninfoInternal = nninfoInternal2;
num2 = i;
}
}
}
}
}
if (num2 == -1)
{
return(default(NNInfo));
}
if (nninfoInternal.constrainedNode != null)
{
nninfoInternal.node = nninfoInternal.constrainedNode;
nninfoInternal.clampedPosition = nninfoInternal.constClampedPosition;
}
if (!this.fullGetNearestSearch && nninfoInternal.node != null && !constraint.Suitable(nninfoInternal.node))
{
NNInfoInternal nearestForce = graphs[num2].GetNearestForce(position, constraint);
if (nearestForce.node != null)
{
nninfoInternal = nearestForce;
}
}
if (!constraint.Suitable(nninfoInternal.node) || (constraint.constrainDistance && (nninfoInternal.clampedPosition - position).sqrMagnitude > this.maxNearestNodeDistanceSqr))
{
return(default(NNInfo));
}
return(new NNInfo(nninfoInternal));
}