// Returns waypoint closest to the parameter:position
public Waypoint_V2 FindClosestWaypoint(Vector2 position, bool walkableOnly)
{
List <RaycastHit2D> hits = new List <RaycastHit2D>();
float raycastDistance = walkableOnly ? 5f : 3f;
Physics2D.CircleCast(position, raycastDistance, Vector2.zero, new ContactFilter2D().NoFilter(), hits);
hits.RemoveAll(x => x.transform.gameObject.layer != LayerMask.NameToLayer("waypoint"));
if (walkableOnly)
{
hits.RemoveAll(x => !x.transform.GetComponent <Waypoint_V2>().walkable);
}
float smallestDistance = float.PositiveInfinity;
Waypoint_V2 closestHit = null;
foreach (RaycastHit2D hit in hits)
{
float d = Vector2.Distance(hit.transform.position, position);
if (smallestDistance > d)
{
closestHit = hit.transform.GetComponent <Waypoint_V2>();
smallestDistance = d;
}
}
if (closestHit != null)
{
return(closestHit);
}
else
{
Debug.LogWarning("Could not find closest waypoint to the following position: " + position);
return(null);
}
}
private void OnDrawGizmos()
{
if (Grid_V2.Instance == null)
{
return;
}
Gizmos.color = Color.red;
Waypoint_V2 toWp = Grid_V2.Instance.FindClosestWaypoint(this.transform.position, false);
if (toWp != null)
{
Gizmos.DrawLine(this.transform.position, toWp.transform.position);
}
}
//Gets corner closest to posElement
public GameObject getCorner(Vector2 posEstimate)
{
try
{
Waypoint_V2 closestWaypoint = Grid_V2.Instance.FindClosestWaypoint(this.transform.position, false);
TacticalRegion region = closestWaypoint.transform.GetComponentInParent <TacticalRegion>();
cornerTilemap = region.gameObject;
}
catch (Exception e)
{
//Debug.Log(e);
cornerTilemap = null;
}
return(cornerTilemap);
}
////////////////////////////////////////////////////////////////////////////////////////
// Node Functions
// gets the closest node to a particular point
public Node GetClosestNode(Vector2 point)
{
Waypoint_V2 wp = Grid_V2.Instance.FindClosestWaypoint(point, true);
return(new Node(wp));
}
public Node(Waypoint_V2 wp_)
{
this.wp = wp_;
this.heuristic = 0;
}
