void Pathfinder::BuildPath(PathNode * lastNode) {
m_finalPath.clear();
m_edgesPath.clear();
//iterate over all node parents to get the full path
PathNode * node = lastNode;
USVec2D edgeDir;
USVec2D edgePos;
float edgeLength;
while (node->GetParent()) {
m_finalPath.push_back(node);
for (std::vector<Polygon::Edge>::iterator itr = node->GetPolygon()->m_edges.begin();
itr != node->GetPolygon()->m_edges.end(); ++itr) {
if (itr->m_neighbour == node->GetParent()->GetPolygon()) {
edgeDir = node->GetPolygon()->m_vertices[itr->m_verticesID[1]]
- node->GetPolygon()->m_vertices[itr->m_verticesID[0]];
edgeLength = edgeDir.Length();
edgePos = node->GetPolygon()->m_vertices[itr->m_verticesID[0]]
+ (edgeDir.NormVector() * (edgeLength / 2));
m_edgesPath.push_back(edgePos);
}
}
node = node->GetParent();
}
node = node;
}
Pathfinder::Pathfinder(): MOAIEntity2D(), m_navmesh{navmeshFilename} {
RTTI_BEGIN
RTTI_EXTEND(MOAIEntity2D)
RTTI_END
m_pathfinder = this;
//fill m_nodes
uint16_t numPolygons = m_navmesh.GetNumPolygons();
float cost = 0;
USVec2D diagonal;
float centreDist;
for (uint16_t index = 0; index < numPolygons; ++index) {
cost = rand() % 3000 + 500;
PathNode node(m_navmesh.GetPolygon(index), cost, 0.f);
diagonal = node.GetPolygon()->m_vertices[2] - node.GetPolygon()->m_vertices[0];
centreDist = diagonal.Length() / 2;
node.SetCentrePos(node.GetPolygon()->m_vertices[0] + (diagonal.NormVector() * centreDist));
m_nodes.push_back(node);
}
}
