public Route GetRoute(Vector3 start, Vector3 goal, float minSize)
{
Route route = new Route();
NavTree[] sorted = new NavTree[trees.Count];
trees.CopyTo(sorted);
sorted = sorted.OrderBy(t => (t.position - start).sqrMagnitude).ToArray();
for (int i = 0; i < sorted.Length; i++)
{
NavTree t = sorted[i];
Vector3[] clipped = sorted[i].GetIntersectPoints(start, goal);
if (clipped.Length > 0)
{
Route clipRoute = navigator.GetRoute(t, clipped[0], clipped[1], minSize);
clipRoute.points.Reverse();
route.Append(clipRoute);
// t.DrawNode(t.root, new Color32((byte) (75 + i * 50), 125, 125, 255));
}
}
NavTree endTree = GetTreeAt(goal);
if (endTree == null)
{
Route offTreeEnd = new Route();
offTreeEnd.points.Add(new NavPoint(goal));
route.Append(offTreeEnd);
}
return(route);
}
public SpatialNode(Vector3 position, float size, int[] path, SpatialNode parent, NavTree tree)
{
this.position = position;
this.size = size;
this.path = path;
this.parent = parent;
this.tree = tree;
BuildInitial();
ancestorPaths = new Dictionary <string, Func <bool> >()
{
{ "y+", Top },
{ "y-", Bottom },
{ "x+", Right },
{ "x-", Left },
{ "z+", Front },
{ "z-", Back },
};
shift = new Dictionary <string, Func <int, int> >()
{
{ "x+", ShiftX },
{ "x-", ShiftX },
{ "y+", ShiftY },
{ "y-", ShiftY },
{ "z+", ShiftZ },
{ "z-", ShiftZ },
};
}
void Start()
{
// if (tryLoad && FileExists()) {
// LoadFromFile();
// } else {
// tree = new NavTree(maxNodeSize, maxTreeDepth, transform.position);
// }
tree = new NavTree(maxNodeSize, maxTreeDepth, transform.position);
}
public void LoadFromFile()
{
Debug.Log("loading tree from file...");
using (
var reader = new BinaryReader(File.Open(savePath, FileMode.Open))
) {
tree = new NavTree(maxNodeSize, maxTreeDepth, transform.position, new NavTreeReader(reader));
Debug.Log("NavTree loaded from file: " + savePath + "!");
}
}
public void HighlightChildren(NavTree t, SpatialNode n)
{
t.DrawNode(n);
if (n != null && n.children != null)
{
for (int i = 0; i < n.children.Length; i++)
{
HighlightChildren(t, n.children[i]);
}
}
}
public SpatialNode(Vector3 position, float size, int[] path, SpatialNode parent, NavTree tree, List <Vector3> vertices)
{
this.position = position;
this.size = size;
this.path = path;
this.parent = parent;
this.tree = tree;
Build(vertices);
InitializeAncestors();
}
public void BuildAndSave()
{
savePath = Navigation.Config.NavTreeSavePath + fileName + Navigation.Config.NavTreeExtention;
Debug.Log("Saving NavTree " + name + " to file: " + savePath);
tree = new NavTree(maxNodeSize, maxTreeDepth, transform.position);
using (
var writer = new BinaryWriter(File.Open(savePath, FileMode.Create))
) {
tree.Save(new NavTreeWriter(writer));
Debug.Log("NavTree Saved!");
}
}
public SpatialNode(NavTreeReader reader, SpatialNode parent, NavTree tree)
{
this.tree = tree;
if (parent != null)
{
Load(reader, parent);
}
else
{
Load(reader);
}
InitializeAncestors();
}
public NavPoint(INavigable node, INavigableCollection tree)
{
if (node.GetType() == typeof(SpatialNode))
{
this.path = ((SpatialNode)node).path;
this.tree = (NavTree)tree;
this.position = node.Position();
}
else
{
this.position = node.Position();
}
}
public void RemoveNavTree(NavTree tree)
{
trees.Remove(tree);
}
public void AddNavTree(NavTree tree)
{
trees.Add(tree);
}
public NavPoint(int[] path, NavTree tree)
{
this.path = path;
this.tree = tree;
position = this.tree.NodeAtPath(this.path).position;
}
