public LcLink LinkTo(string lptname, Vector3 v, string lname = "")
{
var lp0 = anchorpt;
if (lp0 == null)
{
throw new UnityException("Anchorpt null");
}
lptname = gm.addprefix(lptname);
v = gm.modv(v);
var lp1 = GetNewNode(lptname, v);
if (lname == "")
{
lname = lp0.name + ":" + lptname;
}
else
{
lname = gm.addprefix(lname);
}
if (linkdict.ContainsKey(lname))
{
throw new UnityException("LinkTo: Duplicate Link name:" + lname);
}
linknamelist.Add(lname);
var lnk = new LcLink(this, lname, lp0, lp1);
linkdict.Add(lname, lnk);
//lklistlist.Add(lnk);
anchorpt = lp1;
return(lnk);
}
public Weg(LcLink link, LcNode tonode, LcNode frnode)
{
this.link = link;
this.toNode = tonode;
this.frNode = frnode;
this.distance = Vector3.Distance(frnode.pt, tonode.pt);
}
//private static int newnamenumber = 0;
//public static string genuniquename()
//{
// var newname = "uniqlinkname-" + newnamenumber;
// newnamenumber++;
// return newname;
//}
public LcLink(LinkCloud lc, string name, LcNode node1, LcNode node2)
{
this.lc = lc;
this.name = name;
this.node1 = node1;
this.node2 = node2;
len = Vector3.Distance(node1.pt, node2.pt);
linkLink();
}
public LcLink LinkTo(string newanchor, string lptname, Vector3 v, string lname = "")
{
if (!isnodename(newanchor))
{
throw new UnityException("LinkTo: Unknown anchor:" + newanchor);
}
anchorpt = nodedict[newanchor];
return(LinkTo(lptname, v, lname));
}
public LcNode GetNewNode(string name, Vector3 v)
{
if (nodedict.ContainsKey(name))
{
return(nodedict[name]);
}
// otherwise we need to make it
nodenamelist.Add(name);
var node = new LcNode(this, name, v);
nodedict.Add(name, node);
return(node);
}
Path reconstructPath(LcNode spt, LcNode ept)
{
var cflist = new LinkedList <LcNode>();
cflist.AddLast(ept);
var curpt = ept;
int nloop = 0;
while (curpt != spt)
{
nloop = nloop + 1;
if (nloop > (4 * nodenamelist.Count))
{
GraphUtil.Log("Iter count exceeded 1 in reconstructPath");
return(null);
}
cflist.AddLast(curpt);
curpt = curpt.cameFrom;
}
cflist.AddLast(curpt);
nloop = 0;
var path = new Path(spt);
var cur = cflist.Last;
while (cur != null)
{
nloop = nloop + 1;
if (nloop > (4 * nodenamelist.Count))
{
GraphUtil.Log("Iter count exceeded 2 in reconstructPath");
return(null);
}
var next = cur.Previous;
if (next != null)
{
var nxpt = next.Value.pt;
foreach (var w in cur.Value.wegtos)
{
if (nxpt == w.toNode.pt)
{
path.AddWaypt(w);
continue;
}
}
}
cur = next;
}
path.Finish();
return(path);
}
public LcLink AddLink(string lname, LcNode lp1, LcNode lp2)
{
lname = gm.addprefix(lname);
if (linkdict.ContainsKey(lname))
{
throw new UnityException("AddLink: Duplicate Link name:" + lname);
}
linknamelist.Add(lname);
var lnk = new LcLink(this, lname, lp1, lp2);
linkdict.Add(lname, lnk);
//lklistlist.Add(lnk);
return(lnk);
}
public LcNode AddNode(string name, Vector3 v)
{
name = gm.addprefix(name);
if (nodedict.ContainsKey(name))
{
throw new UnityException("Duplicate Point name");
}
v = gm.modv(v);
nodenamelist.Add(name);
var lpt = new LcNode(this, name, v);
nodedict.Add(name, lpt);
anchorpt = lpt;
return(lpt);
}
LcNode findminfscore(HashSet <LcNode> openset)
{
var minf = 99e30f;
LcNode minlpt = null;
foreach (var lpt in openset)
{
if (lpt.fScore < minf)
{
minf = lpt.fScore;
minlpt = lpt;
}
}
return(minlpt);
}
public LcNode FindClosestNode(Vector3 pt)
{
float mindist = 9e30f;
LcNode minnode = null;
foreach (var nname in nodenamelist)
{
var node = GetNode(nname);
var dist = Vector3.Distance(pt, node.pt);
if (dist < mindist)
{
mindist = dist;
minnode = node;
}
}
return(minnode);
}
public LcNode FindClosestNodeToNodeGo(LcNode targetnode)
{
float mindist = 9e30f;
LcNode minnode = null;
var gopt = targetnode.go.transform.position;
foreach (var nname in nodenamelist)
{
if (nname != targetnode.name)
{
var node = GetNode(nname);
var dist = Vector3.Distance(gopt, node.pt);
if (dist < mindist)
{
mindist = dist;
minnode = node;
}
}
}
return(minnode);
}
public LcLink(GraphCtrl grc, string name, LcNode node1, LcNode node2, LinkUse usetype = LinkUse.legacy, string comment = "")
{
this.grc = grc;
this.usetype = usetype;
this.name = name;
this.node1 = node1;
this.node2 = node2;
this.node1spec = "";
this.node2spec = "";
this.comment = "";
var regid = grc.regman.curNodeRegion.regid;
if (node1.regid == node2.regid)
{
regid = node1.regid;
}
this.regid = regid;
this.regionStepIdx = grc.regman.curNodeRegion.GetCurStepIdx();
len = Vector3.Distance(node1.pt, node2.pt);
LinkLink();
}
public void CreateSpherePoints(int nlng = 10, int nlat = 10, float rad = 5.0f, float heit = 0)
{
grc.gm.initmods();
grc.gm.mod_name_pfx = getmodelprefix("sph-", forcecount: true);
var optar = new LcNode[nlng, nlat];
for (int i = 0; i < nlat; i++)
{
float alat = Mathf.PI * (90 - (i * 180f / (nlat - 1))) / 180;
float y = rad * Mathf.Sin(alat) + heit;
float crad = rad * Mathf.Cos(alat);
for (int j = 0; j < nlng; j++)
{
float alng = Mathf.PI * (j * 360f / nlng) / 180;
float z = crad * Mathf.Sin(alng);
float x = crad * Mathf.Cos(alng);
var pt = new Vector3(x, y, z);
var pname = "pt." + i.ToString() + "." + j.ToString();
LcNode npt = grc.AddNode(pname, pt);
optar[i, j] = npt;
}
}
for (int i = 0; i < nlat; i++)
{
for (int j = 0; j < nlng; j++)
{
var jto = (j + 1) % nlng;
var lname = "lk.h." + i + "." + j;
grc.AddLink(lname, optar[i, j], optar[i, jto]);
if (i > 0)
{
var lname1 = "lk.v." + i + "." + j;
grc.AddLink(lname1, optar[i - 1, j], optar[i, j]);
}
}
}
}
public void AstarInit()
{
cameFrom = null;
gScore = 9e30f;
fScore = 9e30f;
}
public float heuristic_cost_estimate(LcNode topt)
{
var f = Vector3.Distance(pt, topt.pt);
return(f);
}
public Path(LcNode start)
{
this.start = start;
startpt = start.pt;
}
public void Finish()
{
end = waypts[waypts.Count - 1].toNode;
endpt = end.pt;
}