bool AgentEvade(MazeNode node, MazeNode evadeNode, int depth, int distance = 50, EvadeUseMode mode = EvadeUseMode.display)
{
if (depth >= distance) {
ClearNodesSearched();
return true;
}
List<MazeNode> nodes = new List<MazeNode>(node.currentConnections);
List<MazeNode> inOrder = new List<MazeNode>();
while (nodes.Count > 0) {
MazeNode bestNode = nodes[0];
float largestDist;
if (nodes[0] != null) {
largestDist = GetHeuristic(nodes[0], evadeNode, AStarMode.randomEuclidian, searchRandom);
}
else {
largestDist = 0f;
}
for (int i = 1; i < nodes.Count; i++) {
if (nodes[i] == null) {
continue;
}
if (nodes[i].searched) {
continue;
}
float dist = GetHeuristic(nodes[i], evadeNode, AStarMode.randomEuclidian, searchRandom);
if (dist > largestDist) {
largestDist = dist;
bestNode = nodes[i];
}
}
if (bestNode != null) {
inOrder.Add(bestNode);
nodes.Remove(bestNode);
}
else {
break;
}
}
foreach (MazeNode n in inOrder) {
n.searched = true;
if (debugColors && mode == EvadeUseMode.display) {
n.floorRenderer.material = debugGreen;
}
bool endFound = AgentEvade(n, evadeNode, depth + 1, distance, mode);
if (endFound) {
if (depth + 1 >= distance) {
if (mode == EvadeUseMode.wallPlacement) {
if (!PlaceWall(node, n)) {
endFound = false;
continue;
}
else {
if (debugColors) {
node.GetLinkToNode(n).cubeRenderer.material = debugMagenta;
}
}
}
}
return true;
}
}
return false;
}