public void AddNeighbour(NavCubeNode current, Vector3Int end, Vector3Int dir, float cost, NavCubeType searchType, NavCubeAgent agent)
{
Vector3Int pos = current.position + dir;
NavCubeChunk.NavCubeData data = GetData(pos);
if (agent != null)
{
for (int i = 0; i < agent.height; i++)
{
int ii = i - agent.offset;
if (GetData(pos + Vector3Int.up * ii).type == NavCubeType.Blocked)
{
return;
}
}
}
else
{
if (data.type == NavCubeType.Blocked)
{
return;
}
}
float heuristic = pos.Manhattan(end);
NavCubeNode ncn = new NavCubeNode(pos, current.cost + data.cost * cost, heuristic, current);
if (closedList.Contains(ncn))
{
return;
}
if (openList.Contains(ncn))
{
NavCubeNode ol_ncn = openList.Find(x => x.position.Equals(pos));
if (ol_ncn.total > ncn.total)
{
ol_ncn.cost = ncn.cost;
ol_ncn.heuristic = ncn.heuristic;
ol_ncn.parent = ncn.parent;
}
return;
}
if (searchType == NavCubeType.Walking)
{
if (data.type == NavCubeType.Walking)
{
openList.Add(ncn);
}
}
else
{
openList.Add(ncn);
}
}
public void AddPathLink(NavCubeNode current, Vector3Int end, NavCubeType searchType, NavCubeAgent agent)
{
if (links == null)
{
links = new List <MavCubeLink>();
return;
}
foreach (MavCubeLink link in links)
{
Vector3Int nextPos;
if (link.InPosA(current.position))
{
nextPos = current.position + link.AtoB;
}
else if (link.InPosB(current.position))
{
nextPos = current.position + link.BtoA;
}
else
{
continue;
}
NavCubeChunk.NavCubeData data = GetData(nextPos);
if (agent != null)
{
bool noValise = false;
for (int i = 0; i < agent.height; i++)
{
int ii = i - agent.offset;
if (GetData(nextPos + Vector3Int.up * ii).type == NavCubeType.Blocked)
{
noValise = true;
break;
}
}
if (noValise)
{
continue;
}
}
else
{
if (data.type == NavCubeType.Blocked)
{
continue;
}
}
float heuristic = nextPos.Manhattan(end);
NavCubeNode ncn = new NavCubeNode(nextPos, current.cost + link.cost * link.movingCost, heuristic, current);
if (closedList.Contains(ncn))
{
continue;
}
if (openList.Contains(ncn))
{
NavCubeNode ol_ncn = openList.Find(x => x.position.Equals(nextPos));
if (ol_ncn.total > ncn.total)
{
ol_ncn.cost = ncn.cost;
ol_ncn.heuristic = ncn.heuristic;
ol_ncn.parent = ncn.parent;
}
continue;
}
if (searchType == NavCubeType.Walking)
{
if (data.type == NavCubeType.Walking)
{
openList.Add(ncn);
}
}
else
{
openList.Add(ncn);
}
}
}
