public static List <NavRegion> GenerateNavRegionsFromNodes(List <NavNode> nodes, int regionSize)
{
var assignedNodes = new HashSet <NavNode>();
var assignedRegions = new List <NavRegion>();
var nodesToAssign = new List <NavNode>(regionSize);
var nodesToConsiderQueue = new List <NavNode>(64)
{
nodes[0]
};
var nodesForNextRegion = new List <NavNode>(regionSize);
// Account for unconnected components
while (assignedNodes.Count < nodes.Count)
{
nodesToConsiderQueue.Add(FindNextUnallocatedNode(nodes, assignedNodes));
if (nodesToConsiderQueue[0] == null)
{
Debug.LogWarning("Some nodes were duplicates!");
break;
}
// BFS to give nice even growth of region
while (nodesToConsiderQueue.Count > 0)
{
var currentNode = nodesToConsiderQueue[0];
if (!assignedNodes.Contains(currentNode))
{
nodesToAssign.Add(currentNode);
assignedNodes.Add(currentNode);
if (currentNode.NeighbourRefs != null)
{
foreach (var neighbourRef in currentNode.NeighbourRefs)
{
if (!assignedNodes.Contains(neighbourRef))
{
nodesToConsiderQueue.Add(neighbourRef);
}
}
}
}
nodesToConsiderQueue.RemoveAt(0);
}
// Make sure we stop overlap in regions
while (nodesToAssign.Count >= regionSize)
{
for (var currentNodeIndex = 0; currentNodeIndex < regionSize; currentNodeIndex++)
{
nodesForNextRegion.Add(nodesToAssign[currentNodeIndex]);
}
nodesToAssign.RemoveRange(0, regionSize);
var regionBounds = NavRegion.GenerateRectFromNodes(nodesForNextRegion.ToArray());
var conflictingNodes = new List <NavNode>();
foreach (var otherNodes in nodesToAssign)
{
if (regionBounds.Contains(otherNodes.Position))
{
conflictingNodes.Add(otherNodes);
nodesForNextRegion.Add(otherNodes);
}
}
assignedRegions.Add(new NavRegion(nodesForNextRegion.ToArray()));
nodesToAssign.RemoveAll((node) => conflictingNodes.Contains(node));
conflictingNodes.Clear();
nodesForNextRegion.Clear();
}
// make sure regions don't span unconnected components (and allocate last, potentially unfilled region)
if (nodesToAssign.Count > 0)
{
assignedRegions.Add(new NavRegion(nodesToAssign.ToArray()));
nodesToAssign.Clear();
}
}
return(assignedRegions);
}
public NavRegionQueueEntry(NavRegion inCurrentRegion, NavRegion inInitialRegion)
{
CurrentRegion = inCurrentRegion;
InitialRegion = inInitialRegion;
}
