private void GeneratePaths()
{
CellPath path = new CellPath(startCell, start_v3);
if (startCell == endCell)
{
potentialPaths.Add(path);
return;
}
#if UNITY_EDITOR
float totalDist = Debuger_K.doDebug ? Vector3.Distance(start_v3, end_v3) : 0f;
#endif
path.h = EuclideanDistance(start_v3);
excluded.Clear();
excluded.Add(startCell);
foreach (var connection in startCell.connections)
{
CellPath newPath = new CellPath(path, connection);
newPath.g = connection.Cost(properties, ignoreCrouchCost);
if (connection is CellContentPointedConnection)
{
newPath.h = EuclideanDistance((connection as CellContentPointedConnection).exitPoint);
}
else
{
newPath.h = EuclideanDistance(connection.connection);
}
AddCellNode(newPath);
}
int limit = 0;
while (true)
{
limit++;
if (limit > 1500)
{
Debug.Log("limit > 1500");
break;
}
CellPath current = TakeCellNode();
if (current == null)
{
break;
}
Cell currentCell = current.last;
if (currentCell == endCell)
{
potentialPaths.Add(current);
#if UNITY_EDITOR
if (Debuger_K.doDebug)
{
float lerped = Mathf.InverseLerp(0, totalDist, Vector3.Distance(end_v3, currentCell.centerV3));
Debuger_K.AddPath(current.path[current.path.Count - 2].centerV3 + Vector3.up, current.path[current.path.Count - 1].centerV3 + Vector3.up, new Color(lerped, 1 - lerped, 0, 1f));
}
#endif
if (potentialPaths.Count >= maxPaths)
{
break;
}
else
{
continue;
}
}
if (excluded.Contains(currentCell))
{
continue;
}
else
{
excluded.Add(currentCell);
}
#if UNITY_EDITOR
if (Debuger_K.doDebug)
{
float lerped = Mathf.InverseLerp(0, totalDist, Vector3.Distance(end_v3, currentCell.centerV3));
Debuger_K.AddPath(current.path[current.path.Count - 2].centerV3 + (Vector3.up * 0.3f), current.path[current.path.Count - 1].centerV3 + (Vector3.up * 0.3f), new Color(lerped, 1 - lerped, 0, 1f));
}
#endif
foreach (var connection in currentCell.connections)
{
Cell newCell = connection.connection;
if (current.Contains(newCell) == false)
{
CellPath newPath = new CellPath(current, connection);
#if UNITY_EDITOR
if (Debuger_K.debugPath)
{
Debuger_K.AddLabel(SomeMath.MidPoint(current.last.centerV3, newCell.centerV3), connection.Cost(properties, ignoreCrouchCost), DebugGroup.path);
}
#endif
newPath.g = current.g + connection.Cost(properties, ignoreCrouchCost);
if (connection is CellContentPointedConnection)
{
newPath.h = EuclideanDistance((connection as CellContentPointedConnection).exitPoint);
//Debuger3.AddLabel((connection as CellPointedConnection).exitPoint, newPath.h);
}
else
{
newPath.h = EuclideanDistance(connection.connection);
}
AddCellNode(newPath);
}
}
}
}
//just use Dijkstra to find nearest cover
private List <NodeCoverPoint> SearchCover()
{
List <NodeCoverPoint> result = new List <NodeCoverPoint>();
CellPath path = new CellPath(startCell, start_v3);
if (startCell.covers != null)
{
result.AddRange(startCell.covers);
}
excluded.Add(startCell);
foreach (var connection in startCell.connections)
{
CellPath newPath = new CellPath(path, connection);
newPath.g = connection.Cost(start_v3, properties, ignoreCrouchCost);
AddCellNode(newPath);
}
while (true)
{
CellPath current = TakeCellNode();
if (current == null || current.g > maxMoveCost)
{
break;
}
Cell currentCell = current.last;
if (excluded.Contains(currentCell))
{
continue;
}
else
{
excluded.Add(currentCell);
}
#if UNITY_EDITOR
if (Debuger_K.debugPath)
{
Debuger_K.AddPath(current.path[current.path.Count - 2].centerV3, current.path[current.path.Count - 1].centerV3, Color.green);
}
#endif
if (currentCell.covers != null)
{
result.AddRange(currentCell.covers);
}
foreach (var connection in currentCell.connections)
{
Cell newCell = connection.connection;
if (current.Contains(newCell) == false)
{
CellPath newPath = new CellPath(current, connection);
newPath.g = current.g + connection.Cost(properties, ignoreCrouchCost);
AddCellNode(newPath);
}
}
}
return(result);
}