public override void OnInspectorGUI()
{
KDNav2DAgent agent = (KDNav2DAgent)target;
agent.Speed = EditorGUILayout.FloatField("Speed", agent.Speed);
agent.RepathThisAgent = EditorGUILayout.Toggle("Repath Agent", agent.RepathThisAgent);
if (GUI.changed)
{
EditorUtility.SetDirty(agent);
}
}
//----------------------------------------------------------------------------------------------
/// <summary>
/// Dispatch routes of the agents on the list by FIFO
/// </summary>
/// <returns></returns>
private IEnumerator GeneratePaths()
{
while (true)
{
if (m_agents.Count > 0)
{
KDNav2DAgent agent = m_agents.First();
List <KD2DTile> route = m_pathFinder.FindPath(agent);
agent.SetRoute(route);
m_agents.RemoveAt(0);
}
yield return(new WaitForEndOfFrame());
}
}
//------------------------------------------------------------------------------------------
public List <KD2DTile> FindPath(KDNav2DAgent a_agent)
{
GameObject endTile = NearestTile(a_agent.Destination).gameObject;
RestartMail(a_agent.NearestTile.gameObject, m_openList, m_closedList);
if (endTile != a_agent.NearestTile.gameObject)
{
GameObject tileGo;
Vector2 end = endTile.transform.position;
do
{
KD2DTile currentTile;
BinaryDelete(m_openList, m_closedList, out tileGo, out currentTile);
int i = 0;
List <Skew> dirs = PathDirections();
Collider2D collider2D = tileGo.collider2D;
collider2D.enabled = false;
do
{
Skew dir = dirs[i];
RaycastHit2D hit = Physics2D.Raycast
(
tileGo.transform.position,
dir.Direction.normalized,
dir.Direction.magnitude,
1 << m_tileLayer
);
if (hit)
{
var hitTile = hit.collider.GetComponent <KD2DTile>();
if (hitTile && !hitTile.Occupied && !hitTile.IsBloked)
{
float nextG = currentTile.G + dir.Cost;
if (!hitTile.IsWrited)
{
WriteTile(hitTile, tileGo, nextG, end);
continue;
}
if (hitTile.G > nextG)
{
WriteTile(hitTile, tileGo, nextG);
}
}
else
{
dir.RemoveFromList(dirs);
}
}
else
{
dir.RemoveFromList(dirs);
}
} while (++i < dirs.Count);
collider2D.enabled = true;
} while (tileGo != endTile && m_openList.Count > 0);
}
var finalList = new List <KD2DTile>();
if (endTile)
{
finalList = FinalList(endTile.GetComponent <KD2DTile>());
}
return(finalList);
}
//----------------------------------------------------------------------------------------------
/// <summary>
/// Creates a request to obtain a route for find the way to reach the goal tile
/// </summary>
/// <param name="a_agent">Agent requesting a route</param>
public void FindWay(KDNav2DAgent a_agent)
{
m_agents.Remove(a_agent);
m_agents.Add(a_agent);
}