private List <Waypoint> GetDirectNeighbours(Waypoint waypoint, List <Waypoint> edge)
{
List <Waypoint> neighbours = new List <Waypoint>();
int index = edge.IndexOf(waypoint);
if (edge.Count > index + 1)
{
Waypoint neighbour = edge.ElementAt(index + 1); //get neighbours on same edge
//if (pathfindingHelper.LineOfSight(neighbour,waypoint))
neighbours.Add(neighbour);
}
if (index > 0)
{
Waypoint neighbour = edge.ElementAt(index - 1); //get neighbours on same edge
//if (pathfindingHelper.LineOfSight(neighbour, waypoint))
neighbours.Add(neighbour);
}
if (index == 0 || index == edge.Count) //if corner don't get any other neighbours
{
return(neighbours);
}
foreach (List <Waypoint> otherEdge in edges) //get neighbours on other edge
{
Waypoint closestWaypoint = null;
float minDistance = float.MaxValue;
Waypoint start = edge.ElementAt(0);
Waypoint end = edge.Last();
Waypoint sharedCorner = Vector3.Distance(waypoint.globalPosition, start.globalPosition) < Vector3.Distance(waypoint.globalPosition, end.globalPosition) ? start : end;
if (otherEdge != edge && otherEdge.Contains(sharedCorner)) //don't look on own edge and only look ad adjacent edges
{
foreach (Waypoint wp in otherEdge)
{
if (wp != waypoint /*&& wp!=start && wp!=end*/) //don't count yourself
{
float distance = Vector3.Distance(wp.globalPosition, waypoint.globalPosition); //measure distance of these waypoints
if (minDistance > distance && pathfindingHelper.LineOfSight(wp, waypoint, false)) //if distance is smallest one, yet
{
minDistance = distance;
closestWaypoint = wp; //define this waypoint as direct neighbour
}
}
}
}
if (closestWaypoint != null && closestWaypoint != start && closestWaypoint != end)
{
neighbours.Add(closestWaypoint);
}
}
return(neighbours);
}
// Update is called once per frame
void Update()
{
if (Vector3.Distance(nextPosition, transform.position) < 0.1)
{
if (corridor.Count > 0 /*&&stepsSkipted*/ && !corridorDone)
{
nextNode = corridor[0];
if (corridor.Count > 1)
{
lookaheadNode = corridor[1];
}
else
{
lookaheadNode = corridor[0];
}
nextPosition = corridor[0].publicGlobalPosition;
//corridorStep++;
corridor.RemoveAt(0);
if (corridor.Count == 0)
{
corridorDone = true;
}
}
else if (pathfindingHelper.LineOfSight(transform.position, destination.position, true))
{
nextPosition = destination.position;
corridorDone = true;
}
else
{
nextPosition = transform.position;
corridorDone = false;
}
}
movement.targetPoint = nextPosition;
if (drawCorridor && !corridorDrawn)
{
DrawCorridor();
corridorDrawn = true;
}
}