protected void Start()
{
GameMgr.GetInstance().GetCustomMgrs().Register(this);
GameObject[] waypoints = GameObject.FindGameObjectsWithTag(WayPointTag);
_waypointList = new Map(waypoints.Length);
_navigation = new List <WayPoint>();
for (int i = 0; i < waypoints.Length; ++i)
{
WayPoint wp = waypoints[i].GetComponent <WayPoint>();
WayPointStruct wps = new WayPointStruct(wp.ID, wp.transform.position);
_waypointList.Add(ref wps);
_navigation.Add(wp);
}
for (int i = 0; i < waypoints.Length; ++i)
{
WayPoint wp = waypoints[i].GetComponent <WayPoint>();
WayPoint[] neighborns = wp.getNeighbors();
WayPointStruct wps = _waypointList[wp.ID];
for (int j = 0; j < neighborns.Length; ++j)
{
WayPoint neighborn = neighborns[j];
wps.AddNeighborn(neighborn.ID);
WayPointStruct neighbornStatic = _waypointList[neighborn.ID];
neighbornStatic.AddNeighborn(wps.ID);
_waypointList[neighborn.ID] = neighbornStatic;
}
_waypointList[wp.ID] = wps;
}
/*if (_buildNavigationMapAutomatic)
* BuildNavigationPaths();*/
}
public float GetCostFromThisPath(int current, int child)
{
//float gCostFromThisPath = current.GetG() + current.CalcF(child);
WayPointStruct wp = _waypoints[current];
float f = wp.CalcF(_waypoints[child].Position);
return(wp.G + f);
}
public void set(int i, float g, int parent, int target)
{
WayPointStruct wp = _waypoints[i];
wp.G = g;
wp.Parent = parent;
wp.H = wp.CalcF(_waypoints[target].Position);
_waypoints[i] = wp;
}
private int ReconstructPath(int final, int count)
{
if (final > 0)
{
WayPointStruct wp = _map[final];
_path[count] = wp.Position;
return(ReconstructPath(wp.Parent, count + 1));
}
else
{
return(count);
}
}
public bool NeedUpdatePath(int current, int child, bool wpChildIsClose, bool wpChildIsOpen, out float gCostFromThisPath)
{
WayPointStruct wpCurrent = _waypoints[current];
WayPointStruct wpChild = _waypoints[child];
float f = wpCurrent.CalcF(wpChild.Position);
gCostFromThisPath = wpCurrent.G + f;
if (!(wpChildIsClose && gCostFromThisPath >= wpChild.G))
{
//Si el nodo seleccionado no está en la lista de _abierta o el coste del seleccionado por el camino
// actual es menor que el coste anterior....
return((!wpChildIsOpen) || (gCostFromThisPath < wpChild.G));
}
return(false);
}
public void Add(ref WayPointStruct w)
{
_waypoints[w.ID] = w;
}
