internal NavNode FindNode(Vector2 pos)
{
NavNode node = nodes
.Where(i => pos.CastNav(i.pos))
.OrderBy(i => (pos - i.pos).sqrMagnitude)
.FirstOrDefault();
if (node == null)
{
Debug.Log("find node null");
}
return(node);
}
void WeaveBranches(NavNode pivot, HashSet <Bezite> branches)
{
foreach (Bezite branch in branches)
{
bezite = branch;
List <NavNode> nodes = new List <NavNode>(new Linker <NavNode>(InitNode, Eval).result);
this.nodes.Remove(nodes[0]);
nodes.RemoveAt(0);
pivot.Link(nodes[0]);
for (int i = 0; i < nodes.Count - 1; i++)
{
nodes[i].Link(nodes[i + 1]);
}
}
}
public void createDownNodeAt(int x, int y, int depth, float cost)
{
if (grid [x, y] != null)
{
if (grid [x, y].getDownNode() != null)
{
NavNode temp = grid [x, y].getDownNode();
while (temp.getDownNode() != null)
{
temp = temp.getDownNode();
}
NavNode newNode = new NavNode(cost, depth);
temp.setDownNode(newNode);
}
else
{
NavNode newNode = new NavNode(cost, depth);
grid [x, y].getDownNode().setDownNode(newNode);
}
}
}
void FindPathRec()
{
if (current == target)
{
return;
}
foreach (KeyValuePair <NavNode, float> link in current.links)
{
NavNode node = link.Key;
if (node.closed)
{
continue;
}
node.Calibrate(current, target.pos);
openNodes.Add(node);
}
openNodes.Remove(current);
current.closed = true;
current = openNodes.OrderBy(i => i.TotalDist).FirstOrDefault();
FindPathRec();
}
internal void Optimize()
{
List <NavNode> nodes = this.nodes
.OrderByDescending(i => i.links.Count)
.Where(i => i.links.Count > 1).ToList();
for (int i = 0; i < nodes.Count; i++)
{
NavNode node = nodes[i];
NavNode[] links = node.links.Keys
.OrderBy(j => (j.pos - node.pos).Angle())
.ToArray();
if (Removable(links))
{
LinkAround(node, links);
this.nodes.Remove(node);
}
}
foreach (NavNode node in this.nodes)
{
node.GenWeights();
}
}
public void setDownNode(NavNode node)
{
down = node;
}
public void updateNavNodeDepth(NavNode node, int depth)
{
node.setDepth(depth);
}
public void updateNavNodeCost(NavNode node, float Cost)
{
node.setCost(Cost);
}