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Navigation: filtering out invalid start and end points.

WorldChunkRefactoring
Martin Felis 2023-07-28 22:14:28 +02:00
parent b17531e504
commit 87f7af88f8
2 changed files with 40 additions and 0 deletions
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20
HexGrid.cs
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@ -199,6 +199,26 @@ public class HexGrid : Resource
return cost;
}
public HexCell GetClosestWalkableCell(HexCell fromCell, HexCell toCell)
{
if (GetHexCost(toCell) == 0)
{
HexCell[] line = fromCell.LineTo(toCell);
foreach (int i in Enumerable.Range(1, line.Length))
{
if (GetHexCost(line[i]) == 0)
{
toCell = line[i - 1];
break;
}
}
}
return toCell;
}
public List<HexCell> FindPath(HexCell startHex, HexCell goalHex)
{
Vector2 startAxialCoords = startHex.AxialCoords;

20
components/NavigationComponent.cs
View File

@ -104,7 +104,27 @@ public class NavigationComponent : Spatial
public void FindPath(KinematicBody body, Vector3 fromPositionWorld, Vector3 toPositionWorld)
{
HexCell fromCell = TileWorld.HexGrid.GetHexAt(new Vector2(fromPositionWorld.x, fromPositionWorld.z));
if (TileWorld.HexGrid.GetHexCost(fromCell) == 0)
{
GD.Print("Invalid starting point for FindPath(): returning empty path.");
_planningPathWorldNavigationPoints = new List<NavigationPoint>();
_planningPathWorldNavigationPoints.Add(new NavigationPoint(fromPositionWorld));
_planningPathSmoothedWorldNavigationPoints = _planningPathWorldNavigationPoints;
return;
}
HexCell toCell = TileWorld.HexGrid.GetHexAt(new Vector2(toPositionWorld.x, toPositionWorld.z));
toCell = TileWorld.HexGrid.GetClosestWalkableCell(fromCell, toCell);
if (TileWorld.HexGrid.GetHexCost(toCell) == 0)
{
GD.Print("Invalid target point for FindPath(): returning empty path.");
_planningPathWorldNavigationPoints = new List<NavigationPoint>();
_planningPathWorldNavigationPoints.Add(new NavigationPoint(fromPositionWorld));
_planningPathSmoothedWorldNavigationPoints = _planningPathWorldNavigationPoints;
return;
}
List<HexCell> path = TileWorld.HexGrid.FindPath(fromCell, toCell);
// GD.Print("Planning path and have " + TileWorld.HexGrid.Obstacles.Count + " obstacles:");