private static void SearchRecursive(PathFinderAgent agent, Bounds2D targetBounds, Vector3 targetPos, float targetSqrDist, int targetBranch)
{
kDTreeBranch branch = branches[targetBranch];
if (branch.bounds.Overlap(targetBounds))
{
if (branch.branchA != -1)
{
SearchRecursive(agent, targetBounds, targetPos, targetSqrDist, branch.branchA);
SearchRecursive(agent, targetBounds, targetPos, targetSqrDist, branch.branchB);
}
else
{
for (int i = branch.start; i < branch.end; i++)
{
var realAgent = PathFinder.agents[agents[i].index];
if (agent != realAgent)
{
float curSqrDist = SomeMath.SqrDistance(targetPos, realAgent.positionVector3);
if (curSqrDist < targetSqrDist)
{
if (agent.neighbourAgents.Count < agent.maxNeighbors)
{
agent.neighbourAgents.Add(realAgent);
agent.neighbourSqrDistances.Add(curSqrDist);
}
else
{
for (int n = 0; n < agent.maxNeighbors; n++)
{
if (agent.neighbourSqrDistances[n] > curSqrDist)
{
agent.neighbourAgents[n] = realAgent;
agent.neighbourSqrDistances[n] = curSqrDist;
break;
}
}
}
}
}
}
}
}
}
private void SearchRecursive(T target, Bounds2D targetBounds, Vector2 targetPos, float targetSqrDist, int targetBranch)
{
kDTreeBranch branch = branches[targetBranch];
if (branch.bounds.Overlap(targetBounds))
{
if (branch.branchA != -1)
{
SearchRecursive(target, targetBounds, targetPos, targetSqrDist, branch.branchA);
SearchRecursive(target, targetBounds, targetPos, targetSqrDist, branch.branchB);
}
else
{
for (int i = branch.start; i < branch.end; i++)
{
T realAgent = data[members[i].index];
if (target.Equals(realAgent) == false)
{
float curSqrDist = SomeMath.SqrDistance(targetPos, realAgent.position);
if (curSqrDist < targetSqrDist)
{
if (target.neighbourAgents.Count < target.maxNeighbours)
{
target.neighbourAgents.Add(realAgent);
target.neighbourSqrDistances.Add(curSqrDist);
}
else
{
for (int n = 0; n < target.maxNeighbours; n++)
{
if (target.neighbourSqrDistances[n] > curSqrDist)
{
target.neighbourAgents[n] = realAgent;
target.neighbourSqrDistances[n] = curSqrDist;
break;
}
}
}
}
}
}
}
}
}