//
// PUBLIC
//
public List <Vector3> GetPositionPathTo(Vector3 startPos, Vector3 endPos)
{
List <Vector3> path = new List <Vector3>();
AI_Node startNode = GetNodeClosestTo(new Vector2(startPos.x, startPos.z)), endNode = GetNodeClosestTo(new Vector2(endPos.x, endPos.z));
//if (!startNode.IsValid)
// startNode = startNode.GetValidNeighbour() ?? startNode;
if (!endNode.IsValid)
{
endNode = endNode.GetValidNeighbour() ?? endNode;
}
var nodePath = GetPathTo(startNode, endNode);
if (nodePath == null)
{
return(path);
}
foreach (var node in nodePath)
{
path.Add(new Vector3(node.NodePos.x, 0, node.NodePos.y));
}
return(path);
}
private void CreateNodeGrid()
{
_nodes = new AI_Node[AI_GridSizeX * AI_GridSizeY];
AI_Node currentNode;
for (int y = 0; y < AI_GridSizeY; y++)
{
for (int x = 0; x < AI_GridSizeX; x++)
{
currentNode = new AI_Node(true, Vector2.zero);
currentNode.MatrixPos = new Vector2Int(x, y);
_nodes[x + y * AI_GridSizeX] = currentNode;
if (x > 0)
{
_nodes[x - 1 + y * AI_GridSizeX].AddNeighbour(currentNode);
currentNode.AddNeighbour(_nodes[x - 1 + y * AI_GridSizeX]);
}
if (y > 0)
{
_nodes[x + (y - 1) * AI_GridSizeX].AddNeighbour(currentNode);
currentNode.AddNeighbour(_nodes[x + (y - 1) * AI_GridSizeX]);
}
}
}
}
private static void ClearAllNodeConnections()
{
// Get all objects in the scene
List <GameObject> nodeObjs = new List <GameObject>();
foreach (GameObject GO in Resources.FindObjectsOfTypeAll(typeof(GameObject)) as GameObject[])
{
nodeObjs.Add(GO);
}
// Iterate through all of them and clear the nodes of all connections.
for (int i = 0; i < nodeObjs.Count; i++)
{
AI_Node node = nodeObjs[i].GetComponent <AI_Node>();
if (node)
{
Undo.RecordObject(node, "Clearing every nodes connections");
node.rConNodes.Clear();
}
}
}
private bool IsNodeInSight(AI_Node startNode, AI_Node targetNode)
{
float t;
int xDist = startNode.MatrixPos.x - targetNode.MatrixPos.x;
xDist = xDist > 0 ? xDist : -xDist;
int yDist = startNode.MatrixPos.y - targetNode.MatrixPos.y;
yDist = yDist > 0 ? yDist : -yDist;
int diagonalDist = Mathf.Max(xDist, yDist);
bool sideSight;
for (int step = 0; step < diagonalDist; step++)
{
sideSight = false;
t = (step == 0) ? 0 : step / (float)diagonalDist;
Vector2Int pointMatrixPos = Vector2Int.FloorToInt(Vector2.Lerp(startNode.MatrixPos, targetNode.MatrixPos, t));
if (!_nodes[pointMatrixPos.x + pointMatrixPos.y * AI_GridSizeX].IsValid)
{
return(false);
}
foreach (var side in _nodes[pointMatrixPos.x + pointMatrixPos.y * AI_GridSizeX].Neighbours)
{
if (side.IsValid)
{
sideSight = true; break;
}
}
if (!sideSight)
{
return(false);
}
}
return(true);
}
public bool IsPositionOnSight(Vector2 startPos, Vector2 endPos)
{
AI_Node startNode = GetNodeClosestTo(startPos), endNode = GetNodeClosestTo(endPos);
return(IsNodeInSight(startNode, endNode));
}
private List <AI_Node> GetPathTo(AI_Node startNode, AI_Node endNode)
{
//return ThetaStar.RunWithoutWeight(startNode, n => n == endNode, n => n.Neighbours, n => Vector2.Distance(n.NodePos, endNode.NodePos), IsNodeInSight, (n1, n2) => Vector2.Distance(n1.NodePos, n2.NodePos), n => n.IsValid, maxPathfindSteps);
return(AStar.Run(startNode, n => n == endNode, n => n.Neighbours.Select(neighbour => (neighbour, 1f)), n => Vector2.Distance(endNode.NodePos, n.NodePos), maxPathfindSteps));
}
public void AddNeighbour(AI_Node node)
{
Neighbours.Add(node);
}