//create all the connections between the child nodes of a rigidbody (it is assumed they can all walk to each other without interruption)
public static void AddInternalConnections(Node rb)
{
Node lastNode = null;
foreach (Node n in rb.internalNodes)
{
if (lastNode != null)
{
n.addConnection(new Connection(lastNode.index, (lastNode.position - n.position).Length(), CONNECTION_TYPE.WALK));
lastNode.addConnection(new Connection(n.index, (lastNode.position - n.position).Length(), CONNECTION_TYPE.WALK));
}
lastNode = n;
}
}
//create the connection from rb1 to rb2 if there is one between their child nodes
public static void AddConnectionsFromTo(Node rb1, Node rb2)
{
//find out if any of the node's children are connected to the other node's children
//if not then exit early
CONNECTION_TYPE connection = GetConnectionBetweenRigidBodies(rb1, rb2);
if (connection == CONNECTION_TYPE.NONE)
{
return;
}
float cost = (rb1.position - rb2.position).Length();
//other costs can be included here, such as taking into account the type of motion required (jump/fall/walk), or looking at the properties of the rigidbodies such as friction or bounciness
rb1.addConnection(new Connection(rb2.index, cost, CONNECTION_TYPE.HIGH_LEVEL));
}