/** Adds obstacles for a graph */
public void AddGraphObstacles(Pathfinding.RVO.Simulator sim, NavGraph graph)
{
if (obstacles.Count > 0 && lastSim != null && lastSim != sim) {
Debug.LogError ("Simulator has changed but some old obstacles are still added for the previous simulator. Deleting previous obstacles.");
RemoveObstacles ();
}
//Remember which simulator these obstacles were added to
lastSim = sim;
INavmesh ng = graph as INavmesh;
if (ng == null) return;
Node[] nodes = graph.nodes;
Int3[] vertices = ng.vertices;
int[] uses = new int[3];
for (int i=0;i<nodes.Length;i++) {
MeshNode node = nodes[i] as MeshNode;
uses[0] = uses[1] = uses[2] = 0;
if (node != null) {
for (int j=0;j<node.connections.Length;j++) {
MeshNode other = node.connections[j] as MeshNode;
if (other == null) continue;
int first = -1;
int second = -1;
for (int x=0;x<3;x++) {
for (int y=0;y<3;y++) {
if (node[x] == other[y] && first < 0) {
first = x;
break;
} else if (node[x] == other[y]) {
second = x;
break;
}
}
if (second >= 0) break;
}
//Only shared one vertex
if (second == -1) continue;
if ((first+1) % 3 == second) {
uses[first]++;
} else { //if ((second+1) % 3 == first) {
uses[second]++;
}
}
}
for (int j=0;j<3;j++) {
if (uses[j] == 0) {
Vector3 v1 = (Vector3)vertices[node[j]];
Vector3 v2 = (Vector3)vertices[node[(j+1) % 3]];
//I think node vertices always should be clockwise, but it's good to be certain
if (!Polygon.IsClockwise (v1,v2,(Vector3)vertices[node[(j+2) % 3]])) {
Vector3 tmp = v2;
v2 = v1;
v1 = tmp;
}
#if ASTARDEBUG
Debug.DrawLine (v1,v2,Color.red);
Debug.DrawRay (v1,Vector3.up*wallHeight,Color.red);
#endif
float height = System.Math.Abs(v1.y-v2.y);
height = System.Math.Max (height,5);
obstacles.Add (sim.AddObstacle (v1, v2, wallHeight));
}
}
}
}