private static void StepTo(Node node)
{
CollisionLayers collisionMask = CollisionLayers.Walk;
Node newNode = null;
int dirStart;
int dirEnd;
if (node.directionIndex == -1)
{
dirStart = 0;
dirEnd = 8;
}
else if (node.directionIndex % 2 == 0)
{
dirStart = ((node.directionIndex - 1) + 8) % 8;
dirEnd = dirStart + 3;
}
else
{
dirStart = ((node.directionIndex - 2) + 8) % 8;
dirEnd = dirStart + 5;
}
for (int i = dirStart; i < dirEnd; ++i)
{
int dir = i % 8;
Vector2i pos = node.pos + directions[dir];
bool passable = CollisionMap.Passable(pos, collisionMask, size: size, ignore: self);
if (passable)
{
if (newNode == null)
{
newNode = Node.Get();
}
newNode.pos = pos;
bool closed = closeNodes.Contains(newNode);
if (!closed)
{
newNode.parent = node;
newNode.gScore = node.gScore + 1;
newNode.hScore = Vector2i.manhattanDistance(target, newNode.pos);
newNode.score = newNode.gScore + newNode.hScore;
newNode.directionIndex = dir;
openNodes.Add(newNode);
closeNodes.Add(newNode);
newNode = null;
}
}
}
if (newNode != null)
{
newNode.Recycle();
}
}
void OnEnable()
{
map = new Cell[width * height];
for (int i = 0; i < map.Length; ++i)
{
map[i].blocked = CollisionLayers.All;
}
origin = width * 5 + 5;
instance = this;
}
private static void Collapse(Node node)
{
while (node.parent != null && node.parent.parent != null)
{
if (CollisionMap.Raycast(node.pos, node.parent.parent.pos, size: size, ignore: self))
{
break;
}
node.parent = node.parent.parent;
}
}
public CollisionMap(int width, int height)
{
instance = this;
this.width = width;
this.height = height;
map = new Cell[width * height];
for (int i = 0; i < map.Length; ++i)
{
map[i].blocked = CollisionLayers.All;
}
origin = width * 5 + 5;
}