public void OnPathComplete(Path p)
{
base.StartCoroutine(this.WaitToRepath());
if (p.error)
{
return;
}
this.path = p.vectorPath.ToArray();
float num = float.PositiveInfinity;
int num2 = 0;
for (int i = 0; i < this.path.Length - 1; i++)
{
float num3 = AstarMath.DistancePointSegmentStrict(this.path[i], this.path[i + 1], this.tr.position);
if (num3 < num)
{
num2 = 0;
num = num3;
this.pathIndex = i + 1;
}
else if (num2 > 6)
{
break;
}
}
}
public void OnPathComplete(Path p)
{
StartCoroutine(WaitToRepath());
//If the path didn't succeed, don't proceed
if (p.error)
{
return;
}
//Get the calculated path as a Vector3 array
path = p.vectorPath.ToArray();
//Find the segment in the path which is closest to the AI
//If a closer segment hasn't been found in '6' iterations, break because it is unlikely to find any closer ones then
float minDist = Mathf.Infinity;
int notCloserHits = 0;
for (int i = 0; i < path.Length - 1; i++)
{
float dist = AstarMath.DistancePointSegmentStrict(path[i], path[i + 1], tr.position);
if (dist < minDist)
{
notCloserHits = 0;
minDist = dist;
pathIndex = i + 1;
}
else if (notCloserHits > 6)
{
break;
}
}
}
public void InsertObstacleNeighbour(ObstacleVertex ob1, float rangeSq)
{
ObstacleVertex obstacleVertex = ob1.next;
float num = AstarMath.DistancePointSegmentStrict(ob1.position, obstacleVertex.position, this.Position);
if (num < rangeSq)
{
this.obstacles.Add(ob1);
this.obstacleDists.Add(num);
int num2 = this.obstacles.Count - 1;
while (num2 != 0 && num < this.obstacleDists[num2 - 1])
{
this.obstacles[num2] = this.obstacles[num2 - 1];
this.obstacleDists[num2] = this.obstacleDists[num2 - 1];
num2--;
}
this.obstacles[num2] = ob1;
this.obstacleDists[num2] = num;
}
}
/*public void UpdateNeighbours () {
* neighbours.Clear ();
* float sqrDist = neighbourDistance*neighbourDistance;
* for ( int i = 0; i < simulator.agents.Count; i++ ) {
* float dist = (simulator.agents[i].position - position).sqrMagnitude;
* if ( dist <= sqrDist ) {
* neighbours.Add ( simulator.agents[i] );
* }
* }
* }*/
public void InsertObstacleNeighbour(ObstacleVertex ob1, float rangeSq)
{
ObstacleVertex ob2 = ob1.next;
float dist = AstarMath.DistancePointSegmentStrict(ob1.position, ob2.position, Position);
if (dist < rangeSq)
{
obstacles.Add(ob1);
obstacleDists.Add(dist);
int i = obstacles.Count - 1;
while (i != 0 && dist < obstacleDists[i - 1])
{
obstacles[i] = obstacles[i - 1];
obstacleDists[i] = obstacleDists[i - 1];
i--;
}
obstacles[i] = ob1;
obstacleDists[i] = dist;
}
}
