public void Setup_For_Search(Pathing_Point target)
{
if (target != null)
{
H = Vector3.Distance(m_Position.position, target.m_Position.position);
}
else
{
H = float.PositiveInfinity;
}
m_Parent = null;
m_Open = NodeState.Untested;
}
public bool Search(Pathing_Point curr, Pathing_Point target)
{
curr.m_Open = Pathing_Point.NodeState.Closed;
List <Pathing_Point> next_nodes = GetAdjacentWalkableNodes(curr);
next_nodes.Sort((node1, node2) => node1.Get_F().CompareTo(node2.Get_F()));
foreach (Pathing_Point node in next_nodes)
{
if (node == target)
{
return(true);
}
else
if (Search(node, target)) // Note: Recurses back into Search(Node)
{
return(true);
}
}
return(false);
}
private void Leave_State()
{
switch (m_State)
{
// code transitions out of current state
case Security_State.Patrol:
{
m_Path = null;
m_target = null;
break;
}
case Security_State.Catch:
{
m_Target_Item = null;
break;
}
case Security_State.Chase:
{
m_Alert_Object.SetActive(false);
break;
}
case Security_State.Attack:
{
m_Alert_Object.SetActive(false);
m_PunchTimer = null;
B_InUse = false;
B_Pressed = false;
B_Released = true;
curr_attacking = false;
break;
}
default:
{
break;
}
}
}
public Path CompilePath(Pathing_Point start, Pathing_Point end)
{
Path path = new Path();
bool success = Search(start, end);
if (success)
{
Pathing_Point node = end;
while (node.m_Parent != null)
{
path.Append(node);
node = node.m_Parent;
}
path.Append(node);
path.Reverse();
}
else if (start == end)
{
path.Append(start);
}
return(path);
}
public Path Find_Path(Vector3 start, Vector3 end)
{
Path ret = new Path();
// Get the closest node to the start position
Pathing_Point first_node = Get_Nearest_Node(start);
// Get the closest node to the end position
Pathing_Point end_node = Get_Nearest_Node(end);
// reset pathing points
foreach (Pathing_Point node in m_Nodes)
{
node.Setup_For_Search(end_node);
}
if (first_node != null && end_node != null)
{
ret = CompilePath(first_node, end_node);
return(ret);
}
else
{
return(null);
}
}
public Pathing_Point Get_Nearest_Node(Vector3 start_pos)
{
Pathing_Point ret = null;
float distance = float.PositiveInfinity;
foreach (Pathing_Point node in m_Nodes)
{
Turn_Node_Collision_On(node);
RaycastHit hit;
if (
(Physics.Raycast(start_pos, node.m_Position.position - start_pos, out hit)) &&
(hit.transform.gameObject == node.m_Position.gameObject)
)
{
if (Vector3.Distance(start_pos, node.m_Position.position) < distance)
{
distance = Vector3.Distance(start_pos, node.m_Position.position);
ret = node;
}
}
Turn_Node_Collision_Off(node);
}
return(ret);
}
public void Append(Pathing_Point point)
{
path.Add(point);
num_points += 1;
}
private void Turn_Node_Collision_On(Pathing_Point node)
{
node.gameObject.GetComponent <BoxCollider>().enabled = true;
}
