//Internal & accessory methods
static List <Vector3> InternalPathOptimization(List <Vector3> path, int level)
{
if (OnLineOfSight(SpaceGraph.GetCellIndexFromCoordOnLevel(path[0], level), SpaceGraph.GetCellIndexFromCoordOnLevel(path[path.Count - 1], level), level))
{
return new List <Vector3> {
path[0], path[path.Count - 1]
}
}
;
for (int j = 2; j <= path.Count - 3; j++)
{
for (int i = 2; i < path.Count; i += 2)
{
if (i >= path.Count)
{
return(path);
}
if (OnLineOfSight(SpaceGraph.GetCellIndexFromCoordOnLevel(path[i - 2], level), SpaceGraph.GetCellIndexFromCoordOnLevel(path[i], level), level))
{
path.RemoveAt(i - 1);
return(InternalPathOptimization(path, level));
}
}
}
return(path);
}
public WaveTrace(SpaceConstraints spaceConstraintsInp, object cTInstance, Vector3 start, Vector3 goal)
{
this.cTInstance = (CancellationToken)cTInstance;
spaceConstarintsInst = spaceConstraintsInp;
this.start = SpaceGraph.GetCellIndexFromCoordOnLevel(start, 0);
this.goal = SpaceGraph.GetCellIndexFromCoordOnLevel(goal, 0);
waves = new List <HashSet <Vector3> >();
}
static List <Vector3> ChooseFreeAdjacents(List <Vector3> path, int level)
{
List <Vector3> newPath = new List <Vector3>();
newPath.Add(path[0]);
for (int i = 1; i < path.Count - 1; i++)
{
newPath.Add(GetFreeAdjacentCellCoord(SpaceGraph.GetCellIndexFromCoordOnLevel(path[i], level), level));
}
newPath.Distinct();
newPath.Add(path[path.Count - 1]);
return(newPath);
}
public Graph(SpaceManager spaceManagerInstance, object cTInstance, Vector3 start, Vector3 goal, int pathfindingLevel, SpaceConstraints constraints, double omega, bool diags = false)
{
if (!constraints.Check(start) || !constraints.Check(goal))
{
throw new ArgumentOutOfRangeException();
}
this.goal = new Cube(SpaceGraph.GetCellIndexFromCoordOnLevel(goal, pathfindingLevel));
this.start = new Cube(SpaceGraph.GetCellIndexFromCoordOnLevel(start, pathfindingLevel), this.goal);
this.constraints = constraints;
this.omega = omega;
this.diags = diags;
this.cTInstance = cTInstance;
this.spaceManagerInstance = spaceManagerInstance;
this.pathfindingLevel = pathfindingLevel;
}