public GoalBounding(NavMeshPathGraph navMesh, BoundingBox mapSize) {
//Hack to access private field with all the nodes of the mesh
List<NavigationGraphNode> nodeList = (List<NavigationGraphNode>)Utils.Reflection.GetInstanceField(
typeof(RAINNavigationGraph), navMesh, "_pathNodes");
nodeInfos = new NodeRecordArray(nodeList, mapSize);
}
public NodeArrayAStarPathFinding(NavMeshPathGraph graph, IHeuristic heuristic) : base(graph, null, null, heuristic)
{
//do not change this
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes);
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
}
public NodeRecordArray readFile(NodeRecordArray nodeRecordArray)
{
StreamReader sr = new StreamReader(fileName);
string line = sr.ReadLine();
int i = -1;
int j = -1;
//Continue to read until you reach end of file
while (line != null)
{
string[] lineAux = null;
//Read the next line
switch (line) {
case "<nodeRecord>":
i = -1;
j++;
break;
case " <bounds>":
i++;
break;
case "</nodeRecord>":
break;
case " </bounds>":
break;
default:
lineAux = line.Split('<', '>');
break;
}
if (line.Contains("<minX>"))
{
nodeRecordArray.NodeRecords[j].edgeBounds[i].minX=float.Parse(lineAux[2]);
}
else if (line.Contains("<minZ>"))
{
nodeRecordArray.NodeRecords[j].edgeBounds[i].minZ = float.Parse(lineAux[2]);
}
else if (line.Contains("<maxX>"))
{
nodeRecordArray.NodeRecords[j].edgeBounds[i].maxX = float.Parse(lineAux[2]);
}
else if (line.Contains("<maxZ>"))
{
nodeRecordArray.NodeRecords[j].edgeBounds[i].maxZ = float.Parse(lineAux[2]);
}
line = sr.ReadLine();
}
sr.Close();
return nodeRecordArray;
}
public override void RestartNodeArray(NavMeshPathGraph graph)
{
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes);
}
public DijkstraFloodfill(NodeRecordArray nodeRecords) {
this.NodeRecords = nodeRecords;
}