public GameObject AddNode(NavNode2D source, NavNodeType type)
{
Undo.SetCurrentGroupName("Create Nav2D Node All");
int undoGroup = Undo.GetCurrentGroup();
GameObject newObject = new GameObject();
NavNode2D newNavNode = newObject.AddComponent <NavNode2D>();
newNavNode.nav2d = source.nav2d;
newNavNode.navNodeType = type;
newNavNode.connections.Add(source);
if (source.nav2d)
{
int count = source.nav2d.nodes.Count;
newNavNode.name = $"Node ({count}) ({type.ToString()})";
}
newObject.transform.position = source.transform.position + Vector3.right;
newObject.transform.parent = source.transform.parent;
source.connections.Add(newNavNode);
Undo.RegisterCreatedObjectUndo(newObject, "Create Nav2D Node Object");
Undo.CollapseUndoOperations(undoGroup);
return(newObject);
}
public void RemoveNode(NavNode2D source)
{
Undo.SetCurrentGroupName("Remove Nav2D Node");
int group = Undo.GetCurrentGroup();
Undo.DestroyObjectImmediate(source.gameObject);
Undo.CollapseUndoOperations(group);
}
private Stack <NavNodeData> AStar(NavNode2D startNode2D, NavNode2D goalNode2D)
{
int maxIterations = 2000;
NavNodeData start = startNode2D.GetNavData();
NavNodeData goal = goalNode2D.GetNavData();
Stack <NavNodeData> path = new Stack <NavNodeData>();
List <NavNodeData> openNodes = new List <NavNodeData>();
List <NavNodeData> closedNodes = new List <NavNodeData>();
NavNodeData current = start;
openNodes.Add(current);
while (maxIterations > 0 && openNodes.Count > 0 && (closedNodes.Contains(goal) == false))
{
maxIterations--;
current = openNodes[0];
openNodes.Remove(current);
closedNodes.Add(current);
List <NavNodeData> neighbors = current.source.connections.ConvertAll((NavNode2D source) => source.GetNavData());
foreach (NavNodeData neighbor in neighbors)
{
if (closedNodes.Contains(neighbor) == false)
{
if (openNodes.Contains(neighbor) == false)
{
neighbor.parent = current;
neighbor.distanceToTarget = Vector2.Distance(neighbor.position, current.position);
neighbor.cost = neighbor.weight + neighbor.parent.cost;
openNodes.Add(neighbor);
openNodes = openNodes.OrderBy(node => node.F).ToList <NavNodeData>();
}
}
}
}
if (closedNodes.Contains(goal) == false)
{
return(null);
}
NavNodeData temp = current;
if (closedNodes.Contains(current) == false)
{
return(null);
}
do
{
path.Push(temp);
temp = temp.parent;
} while (temp != start && temp != null);
return(path);
}
public Stack <NavNodeData> GetPathToTarget(Vector3 target)
{
lastWorldTarget = target;
NavNode2D targetNode = nav2d.FindNearestNavNode(target);
lastSnapTarget = targetNode.position;
NavNode2D startNode = nav2d.FindNearestNavNode(transform.position);
return(AStar(startNode, targetNode));
}
public override void OnInspectorGUI()
{
DrawDefaultInspector();
NavNode2D component = (NavNode2D)target;
if (GUILayout.Button("+ Normal"))
{
GameObject addedObject = AddNode(component, NavNodeType.NORMAL);
Selection.SetActiveObjectWithContext(addedObject, addedObject);
}
if (GUILayout.Button("+ Stairs"))
{
GameObject addedObject = AddNode(component, NavNodeType.STAIRS);
Selection.SetActiveObjectWithContext(addedObject, addedObject);
}
if (GUILayout.Button("- Remove Node"))
{
RemoveNode(component);
}
}