private IEnumerator LinkNodes(NavNode start)
{
foreach (NavNode node in nodes)
{
if (!node.Equals(start) && !start.links.ContainsKey(node) && CheckNeighbor(start.pos, node.pos))
{
yield return(new WaitForSeconds(0.2f));
start.Link(node);
yield return(LinkNodes(node));
}
}
}
private void GraphRec(float width, NavNode prev, NavNode next, double prevTime, double nextTime)
{
double midTime = (prevTime + nextTime) / 2.0;
Vector2 midPos = Eval(midTime);
NavNode mid = new NavNode(midPos);
prev.Unlink(next);
mid.Link(prev);
mid.Link(next);
double prevDist = (midPos - prev.pos).magnitude;
double nextDist = (midPos - next.pos).magnitude;
if (prevDist >= width)
{
GraphRec(width, prev, mid, prevTime, midTime);
}
if (nextDist >= width)
{
GraphRec(width, mid, next, midTime, nextTime);
}
}
public NavNode Graph(float width)
{
Vector2 startPos = Eval(0.0);
Vector2 endPos = Eval(1.0);
NavNode start = new NavNode(startPos);
NavNode end = new NavNode(endPos);
start.Link(end);
GraphRec(width, start, end, 0.0, 1.0);
return(start);
}