/**
* Returns the nearest node to a position using the specified NNConstraint.
* Searches through all graphs for their nearest nodes to the specified position and picks the closest one.
* The NNConstraint can be used to specify constraints on which nodes can be chosen such as only picking walkable nodes.
* \see Pathfinding.NNConstraint
*/
public static NNInfo GetNearest(Vector3 position, NNConstraint constraint, GraphNode hint)
{
// Cache property lookup
var localGraphs = GetConfig().graphs;
float minDist = float.PositiveInfinity;
NNInfoInternal nearestNode = new NNInfoInternal();
int nearestGraph = -1;
if (localGraphs != null)
{
for (int i = 0; i < localGraphs.Length; i++)
{
NavGraph graph = localGraphs[i];
// Check if this graph should be searched
if (graph == null || !constraint.SuitableGraph(i, graph))
{
continue;
}
NNInfoInternal nnInfo;
if (GetConfig().fullGetNearestSearch)
{
// Slower nearest node search
// this will try to find a node which is suitable according to the constraint
nnInfo = graph.GetNearestForce(position, constraint);
}
else
{
// Fast nearest node search
// just find a node close to the position without using the constraint that much
// (unless that comes essentially 'for free')
nnInfo = graph.GetNearest(position, constraint);
}
GraphNode node = nnInfo.node;
// No node found in this graph
if (node == null)
{
continue;
}
// Distance to the closest point on the node from the requested position
float dist = ((Vector3)nnInfo.clampedPosition - position).magnitude;
if (GetConfig().prioritizeGraphs&& dist < GetConfig().prioritizeGraphsLimit)
{
// The node is close enough, choose this graph and discard all others
minDist = dist;
nearestNode = nnInfo;
nearestGraph = i;
break;
}
else
{
// Choose the best node found so far
if (dist < minDist)
{
minDist = dist;
nearestNode = nnInfo;
nearestGraph = i;
}
}
}
}
// No matches found
if (nearestGraph == -1)
{
return(new NNInfo());
}
// Check if a constrained node has already been set
if (nearestNode.constrainedNode != null)
{
nearestNode.node = nearestNode.constrainedNode;
nearestNode.clampedPosition = nearestNode.constClampedPosition;
}
if (!GetConfig().fullGetNearestSearch&& nearestNode.node != null && !constraint.Suitable(nearestNode.node))
{
// Otherwise, perform a check to force the graphs to check for a suitable node
NNInfoInternal nnInfo = localGraphs[nearestGraph].GetNearestForce(position, constraint);
if (nnInfo.node != null)
{
nearestNode = nnInfo;
}
}
if (!constraint.Suitable(nearestNode.node) || (constraint.constrainDistance &&
(nearestNode.clampedPosition - position).sqrMagnitude > GetConfig().maxNearestNodeDistanceSqr))
{
return(new NNInfo());
}
// Convert to NNInfo which doesn't have all the internal fields
return(new NNInfo(nearestNode));
}
/** Searches for a node which contains the specified point.
* If there are multiple nodes that contain the point any one of them
* may be returned.
*
* \see TriangleMeshNode.ContainsPoint
*/
public TriangleMeshNode QueryInside(Vector3 p, NNConstraint constraint)
{
return(count != 0 && tree[0].Contains(p) ? SearchBoxInside(0, p, constraint) : null);
}
/**
* Returns the nearest node to a position using the specified NNConstraint.
* Searches through all graphs for their nearest nodes to the specified position and picks the closest one.
* The NNConstraint can be used to specify constraints on which nodes can be chosen such as only picking walkable nodes.
*
* \snippet MiscSnippets.cs AstarPath.GetNearest2
*
* \snippet MiscSnippets.cs AstarPath.GetNearest3
*
* \see Pathfinding.NNConstraint
*/
public static NNInfo GetNearest(Vector3 position, NNConstraint constraint)
{
return(GetNearest(position, constraint, null));
}
/** Queries the tree for the closest node to \a p constrained by the NNConstraint.
* Note that this function will only fill in the constrained node.
* If you want a node not constrained by any NNConstraint, do an additional search with constraint = NNConstraint.None
*/
public NNInfoInternal QueryClosest(Vector3 p, NNConstraint constraint, out float distance)
{
distance = float.PositiveInfinity;
return(QueryClosest(p, constraint, ref distance, new NNInfoInternal(null)));
}
