public static void Optimize(ref List <AStarNode> path, ref List <Int3> vectorPath)
{
if (path == null || path.Count == 0 || vectorPath == null || vectorPath.Count != path.Count)
{
return;
}
funnelPath.Clear();
left.Clear();
right.Clear();
// Add start point
left.Add(vectorPath[0]);
right.Add(vectorPath[0]);
for (int i = 0; i < path.Count - 1; i++)
{
NavMeshNode node0 = path[i] as NavMeshNode;
NavMeshNode node1 = path[i + 1] as NavMeshNode;
// Get the portal between path[i] and path[i+1] and add it to the left and right lists
bool portalWasAdded = node0.GetPortal(node1, left, right);
if (!portalWasAdded)
{
// Fallback, just use the positions of the nodes
left.Add(node0.position);
right.Add(node0.position);
left.Add(node1.position);
right.Add(node1.position);
}
}
// Add end point
left.Add(vectorPath[vectorPath.Count - 1]);
right.Add(vectorPath[vectorPath.Count - 1]);
if (!RunFunnel(left, right, funnelPath))
{
// If funnel algorithm failed, degrade to simple line
funnelPath.Add(vectorPath[0]);
funnelPath.Add(vectorPath[vectorPath.Count - 1]);
}
vectorPath.Clear();
vectorPath.AddRange(funnelPath);
left.Clear();
right.Clear();
}
public override bool LineCastForMoving(ref HitInfo hit, MoveType mov)
{
Int3 from = hit.from;
Int3 to = hit.to;
hit.hitPosition = from;
if (trace != null)
{
trace.Clear();
}
Int3 end = to;
Int3 origin = from;
if (origin == end)
{
hit.hitPosition = from;
return(false);
}
NavMeshNode node = GetNearest(from, NNConstraint.None).node;
if (node == null)
{
Debug.LogError("Could not find a valid node to start from");
hit.hitPosition = from;
return(true);
}
origin = node.ClosestPointOnNode(origin);
List <Int3> left = Util.ListPool <Int3> .Claim();
List <Int3> right = Util.ListPool <Int3> .Claim();
int counter = 0;
while (true)
{
counter++;
if (counter > 2000)
{
Debug.LogError("Linecast was stuck in infinite loop. Breaking.");
Util.ListPool <Int3> .Release(left);
Util.ListPool <Int3> .Release(right);
return(true);
}
NavMeshNode newNode = null;
if (trace != null)
{
trace.Add(node);
}
if (node.ContainsPoint(end))
{
hit.hitPosition = to;
Util.ListPool <Int3> .Release(left);
Util.ListPool <Int3> .Release(right);
return(false);
}
for (int i = 0; i < node.connections.Length; i++)
{
left.Clear();
right.Clear();
NavMeshNode other = GetNode(node.connections[i]) as NavMeshNode;
if (!node.GetPortal(other, left, right))
{
continue;
}
Int3 a = left[0];
Int3 b = right[0];
//i.e Left or colinear
if (!VectorMath.RightXZ(a, b, origin))
{
if (VectorMath.RightXZ(a, b, end))
{
//Since polygons are laid out in clockwise order, the ray would intersect (if intersecting) this edge going in to the node, not going out from it
continue;
}
}
float factor1, factor2;
if (VectorMath.LineIntersectionFactorXZ(a, b, origin, end, out factor1, out factor2))
{
//Intersection behind the start
if (factor2 < 0)
{
continue;
}
if (factor1 >= 0 && factor1 <= 1)
{
newNode = other;
break;
}
}
}
if (newNode == null)
{
//Possible edge hit
int vs = node.GetVertexCount();
for (int i = 0; i < vs; i++)
{
var a = node.GetVertex(i);
var b = node.GetVertex((i + 1) % vs);
//i.e left or colinear
if (!VectorMath.RightXZ(a, b, origin))
{
//Since polygons are laid out in clockwise order, the ray would intersect (if intersecting) this edge going in to the node, not going out from it
if (VectorMath.RightXZ(a, b, end))
{
//Since polygons are laid out in clockwise order, the ray would intersect (if intersecting) this edge going in to the node, not going out from it
continue;
}
}
float factor1, factor2;
if (VectorMath.LineIntersectionFactorXZ(a, b, origin, end, out factor1, out factor2))
{
if (factor2 < 0)
{
continue;
}
if (factor1 >= 0 && factor1 <= 1)
{
Vector3 intersectionPoint = (Vector3)a + (Vector3)(b - a) * factor1;
hit.hitPosition = new Int3(intersectionPoint);
Util.ListPool <Int3> .Release(left);
Util.ListPool <Int3> .Release(right);
return(true);
}
}
}
//Ok, this is wrong...
Debug.LogWarning("Linecast failing because point not inside node, and line does not hit any edges of it");
Util.ListPool <Int3> .Release(left);
Util.ListPool <Int3> .Release(right);
return(false);
}
node = newNode;
}
}