protected virtual IEnumerator Navigate(Vector3 destination)
{
Node srcNode = Navigation.Instance.NearestTo(transform.position);
Node dstNode = Navigation.Instance.NearestTo(destination);
_gizmoRealTarget = dstNode;
Node reachedDst = srcNode;
if (srcNode != dstNode)
{
rotateInPath = true;
var path = GraphOperations.AStar(srcNode, dstNode).ToList();
if (path != null)
{
foreach (var next in path.Select(w => FloorPos(w.Content)))
{
RotateInPath(next);
while ((next - FloorPos(this)).sqrMagnitude >= 0.05f)
{
_vel = (next - FloorPos(this)).normalized;
yield return(null);
}
}
}
reachedDst = path.Last().Content;
}
if (reachedDst == dstNode)
{
rotateInPath = false;
_vel = (FloorPos(destination) - FloorPos(this)).normalized;
yield return(new WaitUntil(() => (FloorPos(destination) - FloorPos(this)).sqrMagnitude < 0.05f));
}
_vel = Vector3.zero;
OnReachDestination(reachedDst, reachedDst == dstNode);
}
