public void AddObstacle(NavMeshObstacle obstacle)
{
Vector2 obstacleCenter = new Vector2(obstacle.gameObject.transform.position.x, obstacle.gameObject.transform.position.y);
Vector3 obstacleSize = obstacle.gameObject.GetComponent <Renderer>().bounds.size;
Rect obstacleRect = new Rect(obstacleCenter, obstacleSize);
Obstacles.Add(obstacleRect);
BlockedHex.UnionWith(GridHelper.BoxToHexList(obstacleCenter, obstacleSize, NavMap));
}
bool IsVisible(Vector2 observer, Vector2 destination)
{
List <Hex> hexesInBetween = FractionalHex.HexLinedraw(GridHelper.Vector2ToHex(observer, NavMap.MapLayout), GridHelper.Vector2ToHex(destination, NavMap.MapLayout));
foreach (Hex hex in hexesInBetween)
{
if (BlockedHex.Contains(hex))
{
return(false);
}
}
return(true);
}
public LinkedList <Vector2> GetPath(Vector2 start, Vector2 destination)
#endif
{
Hex startHex = GridHelper.Vector2ToHex(start, NavMap.MapLayout);
Hex destinationHex = GridHelper.Vector2ToHex(destination, NavMap.MapLayout);
Dictionary <Hex, Hex> came_from = new Dictionary <Hex, Hex>();
#if UNITY_EDITOR
testedHex = new List <Hex>();
#endif
if (!BlockedHex.Contains(destinationHex))
{
PriorityQueue <float, Hex> frontier = new PriorityQueue <float, Hex>();
frontier.Enqueue(0, startHex);
Dictionary <Hex, int> cost_so_far = new Dictionary <Hex, int>();
came_from[startHex] = startHex;
cost_so_far[startHex] = 0;
while (!frontier.IsEmpty)
{
Hex current = frontier.Dequeue();
#if UNITY_EDITOR
testedHex.Add(current);
#endif
if (Hex.Equals(current, destinationHex))
{
break;
}
for (int i = 0; i < HEX_NUM_SIDES; i++)
{
Hex next = Hex.Neighbor(current, i);
if (BlockedHex.Contains(next))
{
continue;
}
int new_cost = cost_so_far[current] + UNBLOCKED_HEX_COST;
if ((!cost_so_far.ContainsKey(next)) || (new_cost < cost_so_far[next]))
{
cost_so_far[next] = new_cost;
float priority = new_cost + CalculateHeuristic(destinationHex, next);
frontier.Enqueue(priority, next);
came_from[next] = current;
}
}
}
}
LinkedList <Vector2> path = null;
if (came_from.Count > 0)
{
path = new LinkedList <Vector2>();
#if UNITY_EDITOR
hexInPath = new List <Hex>();
#endif
Hex currentHex = destinationHex;
while (!came_from[currentHex].Equals(startHex))
{
#if UNITY_EDITOR
hexInPath.Add(currentHex);
#endif
path.AddFirst(GridHelper.HexToVector2(currentHex, NavMap.MapLayout));
currentHex = came_from[currentHex];
}
path.AddFirst(start);
SmoothPath(path);
}
return(path);
}
