public override void Initialize(Vector2 position)
{
navigator = Pathfinding2D.GetInstance().GetPathNavigatorToDestination(
position,
destination
);
}
private void GrowPathNode(PathNode2D node)
{
Vector2 position = node.GetPlanarPosition();
float radius = node.GetRadius() + 0.01f;
foreach (Vector2 direction in directions)
{
Vector2 edge_position = position + direction * radius;
float new_radius = Pathfinding2D.GetInstance().GetPotentialFixedEdgeClearingRadius(edge_position, direction, true);
Seed(edge_position + direction * new_radius, new_radius);
}
}
public bool Update(Vector2 position)
{
if (waypoint_index < waypoints.Count)
{
if (Pathfinding2D.GetInstance().IsPotentialConnection(position, GetNextTargetPosition()))
{
waypoint_index++;
}
return(true);
}
return(false);
}
protected override void GenerateInternal(Rect r)
{
rect = r;
directions = directions = Vector2s.RadialFromDegrees(
Floats.Line(0.0f, 360.0f, max_number_branches, false)
).ToList();
active_nodes = new Queue <PathNode2D>();
Seed(origin, Pathfinding2D.GetInstance().GetPotentialClearingRadius(origin));
while (active_nodes.IsNotEmpty())
{
GrowPathNode(active_nodes.Dequeue());
}
}
public bool TryAlterDestination(Vector2 destination)
{
int final_index;
Pathfinding2D pathfinding = Pathfinding2D.GetInstance();
if (waypoints.Offset(waypoint_index).TryApproximateEarliestEdge(
p => pathfinding.IsConnection(p, destination), out final_index)
)
{
waypoints.RemoveEnding(waypoint_index + final_index + 1);
waypoints.Add(destination);
return(true);
}
return(false);
}
private void GenerateQuadTree(Rect rect, int depth)
{
Vector2 position = rect.GetCenterPoint();
float maximum_radius = rect.GetSize().GetMaxComponent();
float acceptable_radius = maximum_radius * target_utilization;
float radius = Pathfinding2D.GetInstance().GetPotentialClearingRadius(position).BindBelow(maximum_radius * 2.0f);
if (radius < acceptable_radius && depth < max_depth)
{
rect.SplitIntoQuarters().Process(r => GenerateQuadTree(r, depth + 1));
}
else
{
if (radius >= minimum_radius)
{
AddPathNode(position, radius);
}
}
}
public IEnumerable <PathNode2D> CalculatePotentialConnections()
{
return(Pathfinding2D.GetInstance().GetPotentialConnections(this.GetPlanarPosition(), radius)
.Skip(this));
}
public bool IsPotentialConnection(Vector2 position)
{
return(Pathfinding2D.GetInstance().IsPotentialConnection(this, position));
}
private void InitializePathNode()
{
this.SetLayer(Pathfinding2D.GetInstance().GetNodeLayer());
}