public void SetupAroundNode(VectorPathNode node)
{
foreach (VectorNode neighbor in node.vecNode.neighbors)
{
if (!IsOverlaying(neighbor.GetRelativPosition()) && neighbor.active)
{
VectorPathNode newNode = ScriptableObject.CreateInstance("VectorNavigation.VectorPathNode") as VectorPathNode;
newNode.Setup(neighbor, position, endPoint, node);
open.Add(newNode);
overlayList.Add(newNode.position);
}
}
}
public void Setup(VectorNode node, Vector3 start, Vector3 end, VectorPathNode preNode)
{
vecNode = node;
position = node.GetRelativPosition();
normal = node.normal;
if (preNode == null)
{
startDistance = Vector3.Distance(position, start);
}
else
{
startDistance = Vector3.Distance(position, preNode.position) + preNode.startDistance;
lastNode = preNode;
name = preNode.name + 1;
lastName = name - 1;
}
endDistance = Vector3.Distance(position, end);
}
public IEnumerator FindPath(Vector3 lastPoint, Vector3 startPoint)
{
position = startPoint;
pathFound = false;
open.Clear();
closed.Clear();
path.Clear();
overlayList.Clear();
VectorPathNode current = CreateInstance("VectorNavigation.VectorPathNode") as VectorPathNode;
current.Setup(GetClosestNode(position, true), position, lastPoint, null);
current.isStart = true;
start = current;
open.Add(start);
overlayList.Add(start.position);
endPoint = GetClosestNode(lastPoint).GetRelativPosition();
int count = 0;
while (!pathFound && open.Count > 0)
{
current = GetNextPathNode(open);
if (current != null)
{
if (current.position != endPoint)
{
SetupAroundNode(current);
}
else
{
path.Add(current);
pathFound = true;
}
closed.Add(current);
open.Remove(current);
count++;
}
if (count >= 1000 || current == null)
{
Debug.Log("Failed to reach end");
break;
}
}
count = 0;
if (pathFound)
{
while (!path.Contains(start))
{
if (!path.Contains(path[0].lastNode))
{
path.Insert(0, path[0].lastNode);
}
count++;
if (count >= 10000)
{
Debug.Log("Failed to find path");
break;
}
}
}
yield return(null);
}