public override void OnInspectorGUI()
{
DrawDefaultInspector();
if (GUILayout.Button("Test Pathfinding"))
{
var enemy = GameObject.FindGameObjectWithTag("Enemy");
var player = GameObject.FindGameObjectWithTag("Player");
var start = enemy.transform.position;
var destination = player.transform.position;
var radius = enemy.GetComponent <CircleCollider2D>().radius;
var pathfinder = new AndersonsAlgorithm(
start: start,
destination: destination,
radius: radius
);
Debug.Log("Found a route:");
Vector3[] vertices = pathfinder.Vertices();
foreach (Vector3 v in vertices)
{
Debug.Log(v);
}
enemy.GetComponent <Rigidbody2D>().velocity = (vertices[0] - start);
}
}
private void CalculatePath()
{
var pathfinder = new AndersonsAlgorithm(
start: transform.position,
destination: target.transform.position,
radius: ColliderRadius()
);
Path = pathfinder.Vertices();
}
private Vector3[] TryThroughElbow()
{
// Stop if out of steps
if (RemainingSteps == 0)
{
return(null);
}
foreach (float angle in Angles())
{
var direction = ToDestination(angle);
Debug.DrawRay(Start, direction, Color.red, 5.0f);
// Get distance to nearest obstacle in this direction
var hit = ObstacleInDirection(direction);
float maxDist = (hit.collider != null) ? hit.distance : 20.0f;
float dist = 1.0f;
while (dist < maxDist)
{
// Find elbow position dist from start in direction
var elbow = Start + (dist * Vector3.Normalize(direction));
// In order to understand recursion...
var pathfinder = new AndersonsAlgorithm(elbow, Destination, Radius, RemainingSteps - 1);
Vector3[] vertices = pathfinder.Vertices();
if (vertices != null)
{
// It really shouldn't be this hard to prepend elbow to vertices!
var list = vertices.ToList();
list.Insert(0, elbow);
vertices = list.ToArray();
// Found a route through the elbow.
// Bubble back up thorugh call stack.
return(vertices);
}
// No route found thorugh this elbow.
// Increment distance and try again.
dist += 1.0f;
}
}
// No route found through any elbow.
// Give up.
return(null);
}
