public static bool Reachable(Node from, Node to, Node[,] nodesArray)
{
if (from.InformerNode.IsObstacle)
{
return(false);
}
var pointsBetween = StraightLine.FindMiddlePoints(from, to);
var destination = StraightLine.FindDestination(from, to);
pointsBetween.Remove(new Point(from.X(), from.Y()));
pointsBetween.Remove(new Point(to.X(), to.Y()));
foreach (var point in pointsBetween)
{
if (destination == Destinations.UpRight &&
nodesArray[point.X, point.Y].NormMatrix[0, 2] == 0)
{
return(false);
}
if (destination == Destinations.UpLeft &&
nodesArray[point.X, point.Y].NormMatrix[0, 0] == 0)
{
return(false);
}
if (destination == Destinations.DownRight &&
nodesArray[point.X, point.Y].NormMatrix[2, 2] == 0)
{
return(false);
}
if (destination == Destinations.DownLeft &&
nodesArray[point.X, point.Y].NormMatrix[2, 0] == 0)
{
return(false);
}
if (nodesArray[point.X, point.Y].InformerNode.IsObstacle)
{
return(false);
}
}
return(true);
}
public void GoalBounding()
{
var controller = GetComponentInChildren <Controller>();
if (!controller.IsPrecomputed)
{
controller.PrecomputeMap();
}
if (StartInformer != null && FinishInformer != null)
{
var startNode = controller.NodesArray[(int)StartInformer.transform.position.x / 3,
(int)StartInformer.transform.position.z / 3];
var goalNode = controller.NodesArray[(int)FinishInformer.transform.position.x / 3,
(int)FinishInformer.transform.position.z / 3];
var destination = StraightLine.FindDestination(startNode, goalNode);
var minRow = startNode.GoalBounds[(int)destination - 1, 0];
var maxRow = startNode.GoalBounds[(int)destination - 1, 1];
var minCol = startNode.GoalBounds[(int)destination - 1, 2];
var maxCol = startNode.GoalBounds[(int)destination - 1, 3];
Debug.Log("Bounding Box: Destination = " + destination + " MinRow = " + minRow + " MaxRow = " + maxRow +
" MinCol = " + minCol
+ " MaxCol = " + maxCol);
for (var i = minRow; i < maxRow; ++i)
{
for (var j = minCol; j < maxCol; ++j)
{
var renderer = controller.NodesArray[i, j].InformerNode.GetComponent <Renderer>();
renderer.material.SetColor("_Color", Color.green);
}
}
}
else
{
Debug.LogError("Enter proper arguments");
}
}
