public Vector3[] GetSolutionPath(IPathTerrain terrain)
{
if (!HasSuccessfullyCompleted())
{
return(null);
}
LinkedList <Planning.Node> path = GetSolutionPath();
if (path == null || path.Count == 0)
{
return(null);
}
Vector3[] pathPoints = new Vector3[path.Count];
int i = 0;
foreach (Planning.Node node in path)
{
Vector3 nodePos = terrain.GetPathNodePos(node.Index);
pathPoints[i] = nodePos;
i++;
}
// Set the first position to be the start position
pathPoints[0] = GetStartPos();
// Set the last position to be the goal position.
int lastIndex = Mathf.Clamp(i, 0, path.Count - 1);
System.Diagnostics.Debug.Assert(lastIndex > 1 && lastIndex < path.Count);
pathPoints[lastIndex] = GetGoalPos();
return(pathPoints);
}
public Vector3[] GetSolutionPath(IPathTerrain terrain)
{
if (!HasSuccessfullyCompleted())
{
return(null);
}
// LinkedList<Planning.Node> path = GetSolutionPath();
if (m_solutionNodeList == null || m_solutionNodeList.Count == 0)
{
return(null);
}
List <int> PathCornerIndexList = null;
if (terrain is PathGrid)
{
PathCornerIndexList = (terrain as PathGrid).CornerIndexs(m_solutionNodeList.ToArray());
}
else
{
Debug.LogError("terrain is not PathGrid");
}
Vector3[] pathPoints = new Vector3[PathCornerIndexList.Count];
int i = 0;
foreach (int cornerIndex in PathCornerIndexList)
{
//Debug.Log("node.Index:" + node.Index);
Vector3 nodePos = terrain.GetPathNodePos(cornerIndex);
pathPoints[i] = nodePos;
i++;
}
// Set the first position to be the start position
pathPoints[0] = GetStartPos();
// Set the last position to be the goal position.
int lastIndex = Mathf.Clamp(i, 0, PathCornerIndexList.Count - 1);
System.Diagnostics.Debug.Assert(lastIndex > 1 && lastIndex < PathCornerIndexList.Count);
pathPoints[lastIndex] = GetGoalPos();
return(pathPoints);
}
