public bool UpdateIndirectNeighbours(WaypointObstacle obstacle, Waypoint wp, out Node oldNeighbour)
{
float oldIndirectPathCost = 0;
changed = false;
oldNeighbour = null;
if (wp.indirectNeighbours.Count > 0)
{
oldNeighbour = wp.indirectNeighbours[0];
}
Waypoint newIndirectNeighbour = (Waypoint)GetClosesNodeViaPhysics(obstacle, wp); //for simplicity let's assume ever node only has one indirect neighour
if (newIndirectNeighbour == null) //waypoint had indirect neighbour before, but now doesn't
{
if (wp.indirectNeighbours.Count == 0)
{
changed = false;
}
else
{
changed = true;
foreach (Node node in wp.indirectNeighbours) //remove path costs of all indirect neighbours
{
wp.pathCosts.Remove(node);
}
wp.indirectNeighbours.Clear();
}
return(changed);
}
else if (wp.indirectNeighbours.Count == 0 && newIndirectNeighbour != null) //waypoint didn't have indirect neighbour before, but now does
{
wp.AddNeighbour(newIndirectNeighbour, true);
changed = true;
}
else if (newIndirectNeighbour != null && newIndirectNeighbour != wp.indirectNeighbours[0]) //indirect neighbour has changed
{
changed = true;
foreach (Node node in wp.indirectNeighbours) //remove path costs of all indirect neighbours
{
wp.pathCosts.Remove(node);
}
wp.indirectNeighbours.Clear();
wp.AddNeighbour(newIndirectNeighbour, true);
}
else if (newIndirectNeighbour == wp.indirectNeighbours[0]) //indirect neigbour stayed the same
{
wp.indirectNeighbours[0].ToWaypoint().indirectPredecessors.Add(wp);
oldIndirectPathCost = wp.pathCosts[wp.indirectNeighbours[0]];
float newindirectPathCost = Vector3.Distance(wp.globalPosition, newIndirectNeighbour.globalPosition);
if (oldIndirectPathCost != newindirectPathCost)
{
changed = true;
}
}
return(changed);
}
public void Connect(Waypoint other)
{
if (other == null)
throw new ArgumentNullException("other");
this.AddNeighbour(other);
other.AddNeighbour(this);
}