static bool isWalkableNode(PNavPoint self, PNavPoint max, PNavPoint delta, PNavColumn[,] columns)
{
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(self, max, delta, out pOut);
if (valid)
{
PNavNode n = columns[pOut.x, pOut.z].SurfaceNode();
valid = (n != null && n.walkable);
}
return(valid);
}
static bool isInnerNode(PNavPoint point, PNavPoint max, PNavPoint delta, int nodes, PNavColumn[,] columns)
{
PNavPoint pOut;
PNavPoint newDelta = new PNavPoint(delta.x * nodes, delta.z * nodes);
bool valid = PNavMeshHelper.GetPoint(point, max, newDelta, out pOut);
if (valid)
{
PNavNode n = columns[pOut.x, pOut.z].SurfaceNode();
valid = (n != null && n.IsInner);
}
return(valid);
}
static bool isEdgeNode(PNavPoint point, PNavPoint max, PNavPoint delta, PNavColumn[,] columns)
{
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(point, max, delta, out pOut);
if (valid)
{
PNavNode n = columns[pOut.x, pOut.z].SurfaceNode();
if (n == null)
{
return(false);
}
return(n.IsLeftEdge || n.IsRghtEdge || n.IsBackEdge || n.IsFrontEdge);
}
return(false);
}
static bool CheckIfNodeIsValidEdge(PNavNode node, PNavColumn[,] columns, PNavPoint pointMax)
{
node.isEdge = false;
node.edgeFlag = 0;
bool allSurroundingAreInner = true;
for (int i = 0; i < 8; i++)
{
walkables[i] = false;
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(node.point, pointMax, points2[i], out pOut);
if (valid)
{
PNavNode n = columns[pOut.x, pOut.z].SurfaceNode();
if (n != null)
{
if (n.walkable)
{
walkables[i] = true;
node.edgeFlag = (byte)(node.edgeFlag | 1 << i);
}
if (!n.IsInner)
{
allSurroundingAreInner = false;
}
}
}
}
if (!allSurroundingAreInner)
{
node.isEdge = true;
}
if (walkables[0] != walkables[4]) //left and right
{
node.isEdge = true;
// if top and bot are not walkable, not valid
if (!walkables[2] && !walkables[6])
{
node.isEdge = false;
}
}
if (walkables[2] != walkables[6]) // top and bot
{
node.isEdge = true;
// if left and right are not walkable, not valid
if (!walkables[0] && !walkables[4])
{
node.isEdge = false;
}
}
// if all diagonal nodes are not walkable, not valid
if (!walkables[1] && !walkables[3] && !walkables[5] && !walkables[7])
{
node.isEdge = false;
}
return(node.isEdge);
}
static bool DetectEdgeLoop(PNavNode node, PNavEdgeLoop edgeLoop, int edgeLoopIndex, PNavColumn[,] columns, PNavPoint pointMax)
{
bool foundLoop = false;
if (node == null || !node.walkable || node.edgeLoopIndex >= 0)
{
return(false);
}
bool isEdge = CheckIfNodeIsValidEdge(node, columns, pointMax);
if (!isEdge)
{
return(false);
}
Stack <PNavNode> stack = new Stack <PNavNode>();
stack.Push(node);
while (stack.Count > 0)
{
PNavNode n = stack.Pop();
//possible to be added more than once
if (n.edgeLoopIndex >= 0)
{
continue;
}
edgeLoop.nodes.Add(n);
n.edgeLoopIndex = edgeLoopIndex;
foundLoop = true;
for (int i = 0; i < 8; i++)
{
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(n.point, pointMax, points[i], out pOut);
if (valid)
{
PNavNode nPush = columns[pOut.x, pOut.z].SurfaceNode();
if (nPush != null)
{
if (!nPush.walkable || nPush.edgeLoopIndex >= 0)
{
continue;
}
bool isEdge1 = CheckIfNodeIsValidEdge(nPush, columns, pointMax);
if (!isEdge1)
{
continue;
}
stack.Push(nPush);
}
}
}
}
return(foundLoop);
}