//Actually sets path and initiates path index
public void StartNavigation(int goalX, int goalY)
{
if (waypointGraph == null)
{
Debug.LogWarning("Cant Start Navigation, due to Waypoint Graph not being initialized yet");
return;
}
Waypoint start = waypointGraph.FindClosestWaypoint(transform.position);
Waypoint goal = waypointGraph.FindClosestWaypoint(new Vector3(goalX, 0f, goalY));
Waypoint accurateStart = new Waypoint((int)transform.position.x, (int)transform.position.z);
Waypoint accurateGoal = goal;
if (goal.X != goalX || goal.Y != goalY)
{
accurateGoal = new Waypoint(goalX, goalY); //Custom Location
}
//Naive Movement Optimization
if (optimizePath)
{
if (IsPathClearBetweenWaypoints(accurateStart, accurateGoal))
{
path = new List <Waypoint>();
path.Add(accurateGoal);
Debug.Log("Simple navigation since path is clear");
pathIndex = 0;
return;
}
}
path = waypointGraph.AStar(start, goal);
//path.Insert(0, accurateStart); //O(n)
if (goal.X != goalX || goal.Y != goalY)
{
path.Add(accurateGoal);
}
if (path.Count > 1)
{
if (IsPathClearBetweenWaypoints(accurateStart, path[1]))
{
path.RemoveAt(0);
}
}
if (strongOptimizePath)
{
OptimizePath();
}
pathIndex = 0;
}
//Actually sets path and initiates path index
public void StartNavigation(int goalX, int goalY)
{
if (waypointGraph == null)
{
Debug.LogWarning("Cant Start Navigation, due to Waypoint Graph not being initialized yet");
return;
}
Waypoint start = waypointGraph.FindClosestWaypoint(transform.position);
Waypoint goal = waypointGraph.FindClosestWaypoint(new Vector3(goalX, 0f, goalY));
path = waypointGraph.AStar(start, goal);
pathIndex = 0;
}
//Actually sets path and initiates path index
public void StartNavigation(int goalX, int goalY)
{
if (waypointGraph == null)
{
Debug.LogWarning("Cant Start Navigation, due to Waypoint Graph not being initialized yet");
return;
}
Waypoint start = waypointGraph.FindClosestWaypoint(transform.position);
Waypoint goal = waypointGraph.FindClosestWaypoint(new Vector3(goalX, 0f, goalY));
path = waypointGraph.AStar(start, goal);
if (goal.X != goalX || goal.Y != goalY)
{
path.Add(new Waypoint(goalX, goalY)); //Custom Location
}
OptimizePath();
pathIndex = 0;
}
