List <Waypoint> path = new List <Waypoint> (); //todo make private
public List <Waypoint> GetPath(Transform end, CustomNavMesh cNavMesh, Waypoint currentNodePos)
{
startWaypoint = currentNodePos;
endWaypoint = TransformToWaypoint(end);
ClearAll();
LoadNodes(cNavMesh);
BreathFirstSearch(cNavMesh);
CreatePath();
return(path);
}
private void BreathFirstSearch(CustomNavMesh cNavMesh)
{
queue.Enqueue(startWaypoint);
while (queue.Count > 0 && isRunning)
{
searchCenter = queue.Dequeue();
HaltIfEndFound();
ExploreNeighbors(cNavMesh.canNotMovePast);
searchCenter.isExplored = true;
}
}
private void LoadNodes(CustomNavMesh cNavMesh)
{
var waypoints = cNavMesh.points;
foreach (Vector2Int waypoint in waypoints)
{
// overlapping blocks?
if (grid.ContainsKey(waypoint))
{
Debug.LogWarning("Skipping Overlapping Block " + waypoint);
}
else
{
// add to dictionary
grid.Add(waypoint, new Waypoint(waypoint));
}
}
}
// Use this for initialization
void Start()
{
coll = GetComponent <CapsuleCollider2D> ();
tracking = transform.position;
player = FindObjectOfType <PlayerController> ();
pathfinding = GetComponent <Pathfinding> ();
cNavMesh = GetComponentInParent <CustomNavMesh> ();
myRoom = GetComponentInParent <RoomGeneration> ();
roLo = GetComponent <RobotLoadout> ();
anims = GetComponentsInChildren <Animator> ();
if (enemyType == 0)
{
basic = GetComponent <BasicEnemy> ();
}
if (enemyType == 1)
{
rangeShort = GetComponent <RangeShortEnemy> ();
}
}
