public static TileNode Quantize(Vector3 position, TileGraph tg)
{
float best_dist = 1000f;
TileNode best_node = null;
foreach (TileNode tn in tg.Nodes)
{
float dist = Mathf.Abs(Vector3.Distance(Localize(tn), position));
if (dist < best_dist)
{
best_node = tn;
best_dist = dist;
}
}
return(best_node);
}
// A potential shortcut method which only looks at adjacent nodes to some previous node for quantization
public static TileNode QuantizeWithPreviousNode(Vector3 position, TileGraph tg, TileNode last_node)
{
float best_dist = 1000f;
TileNode best_node = null;
List <Edge> adj_edges = tg.GetAdjacentEdges(last_node) as List <Edge>;
foreach (Edge adj_edge in adj_edges)
{
TileNode other_node = adj_edge.GetNeighbor(last_node);
float dist = Mathf.Abs(Vector3.Distance(Localize(other_node), position));
if (dist < best_dist)
{
best_node = other_node;
}
}
return(best_node);
}