/// <summary>
/// Gets the walkable successors of the specified node.
/// </summary>
/// <param name="current">The current node.</param>
/// <param name="successorArray">The array to fill with successors.</param>
/// <returns>
/// All walkable successors of the node.
/// </returns>
protected override void GetWalkableSuccessors(IPathNode current, DynamicArray<IPathNode> successorArray)
{
_neighbours.Clear();
if (current.predecessor == null)
{
current.GetWalkableNeighbours(_neighbours, _unitProps, _cutCorners, false);
}
else if (current is IPortalNode)
{
current.GetWalkableNeighbours(successorArray, _unitProps, _cutCorners, false);
return;
}
else
{
var dirFromPredecessor = current.predecessor.GetDirectionTo(current);
PruneNeighbours(current, dirFromPredecessor);
}
var neighbourCount = _neighbours.count;
for (int i = 0; i < neighbourCount; i++)
{
var n = _neighbours[i];
if (n == null)
{
break;
}
var dirToNeighbour = current.GetDirectionTo(n);
var jp = Jump(current, dirToNeighbour);
if (jp != null)
{
successorArray.Add(jp);
}
}
}
private void PruneNeighbours(IPathNode current, VectorXZ direction)
{
if (direction.x != 0)
{
if (direction.z != 0)
{
//Natural neighbours
var nTop = current.TryGetWalkableNeighbour(0, direction.z, _unitProps, _neighbours);
var nRight = current.TryGetWalkableNeighbour(direction.x, 0, _unitProps, _neighbours);
if (_cutCorners)
{
if (nTop || nRight)
{
current.TryGetWalkableNeighbour(direction.x, direction.z, _unitProps, _neighbours);
}
//Forced neighbours? The left/down is as seen from a normal view of the grid, i.e. not seen from the direction of movement (well direction left corner diagonal)
var nLeft = current.GetNeighbour(-direction.x, 0);
if (nLeft != null && !nLeft.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(-direction.x, direction.z, _unitProps, _neighbours);
}
var nDown = current.GetNeighbour(0, -direction.z);
if (nDown != null && !nDown.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(direction.x, -direction.z, _unitProps, _neighbours);
}
}
else
{
if (nTop && nRight)
{
current.TryGetWalkableNeighbour(direction.x, direction.z, _unitProps, _neighbours);
}
}
}
else
{
//Natural neighbour
current.TryGetWalkableNeighbour(direction.x, 0, _unitProps, _neighbours);
//Forced neighbours?
if (_cutCorners)
{
var nUp = current.GetNeighbour(0, 1);
if (nUp != null && !nUp.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(direction.x, 1, _unitProps, _neighbours);
}
var nDown = current.GetNeighbour(0, -1);
if (nDown != null && !nDown.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(direction.x, -1, _unitProps, _neighbours);
}
}
else
{
var nUpBack = current.GetNeighbour(-direction.x, 1);
if (nUpBack != null && !nUpBack.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(0, 1, _unitProps, _neighbours);
current.TryGetWalkableNeighbour(direction.x, 1, _unitProps, _neighbours);
}
var nDownBack = current.GetNeighbour(-direction.x, -1);
if (nDownBack != null && !nDownBack.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(0, -1, _unitProps, _neighbours);
current.TryGetWalkableNeighbour(direction.x, -1, _unitProps, _neighbours);
}
}
}
}
else
{
//Portals return Vector3.zero as the direction, and for those we need to start over on the new grid.
if (direction.z == 0)
{
current.GetWalkableNeighbours(_neighbours, _unitProps, _cutCorners, false);
return;
}
//Natural neighbour
current.TryGetWalkableNeighbour(0, direction.z, _unitProps, _neighbours);
//Forced neighbours? The left/right is as seen from a normal view of the grid, i.e. not seen from the direction of movement (well direction bottom up)
if (_cutCorners)
{
var nLeft = current.GetNeighbour(-1, 0);
if (nLeft != null && !nLeft.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(-1, direction.z, _unitProps, _neighbours);
}
var nRight = current.GetNeighbour(1, 0);
if (nRight != null && !nRight.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(1, direction.z, _unitProps, _neighbours);
}
}
else
{
var nLeftDown = current.GetNeighbour(-1, -direction.z);
if (nLeftDown != null && !nLeftDown.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(-1, 0, _unitProps, _neighbours);
current.TryGetWalkableNeighbour(-1, direction.z, _unitProps, _neighbours);
}
var nRightDown = current.GetNeighbour(1, -direction.z);
if (nRightDown != null && !nRightDown.IsWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(1, 0, _unitProps, _neighbours);
current.TryGetWalkableNeighbour(1, direction.z, _unitProps, _neighbours);
}
}
}
}
private void PruneNeighbours(IPathNode current, VectorXZ direction)
{
if (direction.x != 0)
{
if (direction.z != 0)
{
//Natural neighbours
var nTop = current.TryGetWalkableNeighbour(0, direction.z, _unitProps, _neighbours);
var nRight = current.TryGetWalkableNeighbour(direction.x, 0, _unitProps, _neighbours);
if (_cutCorners)
{
if (nTop || nRight)
{
current.TryGetWalkableNeighbour(direction.x, direction.z, _unitProps, _neighbours);
}
//Forced neighbours? The left/down is as seen from a normal view of the grid, i.e. not seen from the direction of movement (well direction left corner diagonal)
var nLeft = current.GetNeighbour(-direction.x, 0);
if (nLeft != null && !nLeft.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(-direction.x, direction.z, _unitProps, _neighbours);
}
var nDown = current.GetNeighbour(0, -direction.z);
if (nDown != null && !nDown.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(direction.x, -direction.z, _unitProps, _neighbours);
}
}
else
{
if (nTop && nRight)
{
current.TryGetWalkableNeighbour(direction.x, direction.z, _unitProps, _neighbours);
}
}
}
else
{
//Natural neighbour
current.TryGetWalkableNeighbour(direction.x, 0, _unitProps, _neighbours);
//Forced neighbours?
if (_cutCorners)
{
var nUp = current.GetNeighbour(0, 1);
if (nUp != null && !nUp.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(direction.x, 1, _unitProps, _neighbours);
}
var nDown = current.GetNeighbour(0, -1);
if (nDown != null && !nDown.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(direction.x, -1, _unitProps, _neighbours);
}
}
else
{
var nUpBack = current.GetNeighbour(-direction.x, 1);
if (nUpBack != null && !nUpBack.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(0, 1, _unitProps, _neighbours);
current.TryGetWalkableNeighbour(direction.x, 1, _unitProps, _neighbours);
}
var nDownBack = current.GetNeighbour(-direction.x, -1);
if (nDownBack != null && !nDownBack.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(0, -1, _unitProps, _neighbours);
current.TryGetWalkableNeighbour(direction.x, -1, _unitProps, _neighbours);
}
}
}
}
else
{
//Portals return Vector3.zero as the direction, and for those we need to start over on the new grid.
if (direction.z == 0)
{
current.GetWalkableNeighbours(_neighbours, _unitProps, _cutCorners, false);
return;
}
//Natural neighbour
current.TryGetWalkableNeighbour(0, direction.z, _unitProps, _neighbours);
//Forced neighbours? The left/right is as seen from a normal view of the grid, i.e. not seen from the direction of movement (well direction bottom up)
if (_cutCorners)
{
var nLeft = current.GetNeighbour(-1, 0);
if (nLeft != null && !nLeft.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(-1, direction.z, _unitProps, _neighbours);
}
var nRight = current.GetNeighbour(1, 0);
if (nRight != null && !nRight.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(1, direction.z, _unitProps, _neighbours);
}
}
else
{
var nLeftDown = current.GetNeighbour(-1, -direction.z);
if (nLeftDown != null && !nLeftDown.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(-1, 0, _unitProps, _neighbours);
current.TryGetWalkableNeighbour(-1, direction.z, _unitProps, _neighbours);
}
var nRightDown = current.GetNeighbour(1, -direction.z);
if (nRightDown != null && !nRightDown.isWalkableFromAllDirections(_unitProps))
{
current.TryGetWalkableNeighbour(1, 0, _unitProps, _neighbours);
current.TryGetWalkableNeighbour(1, direction.z, _unitProps, _neighbours);
}
}
}
}
/// <summary>
/// Gets the walkable successors of the specified node.
/// </summary>
/// <param name="current">The current node.</param>
/// <param name="successorArray">The array to fill with successors.</param>
/// <returns>All walkable successors of the node.</returns>
protected virtual void GetWalkableSuccessors(IPathNode current, DynamicArray<IPathNode> successorArray)
{
current.GetWalkableNeighbours(successorArray, _unitProps, _cutCorners, _preventDiagonalMoves);
}