navsphere

using UnityEngine;
using System.Collections;

public class NavGrid : MonoBehaviour {

    public Dot[,,] navGridArray;
    public float navsphereRadius;
    public float dotRadius;
    float dotDiameter;
    int gridSizeY;
    int halfGridSizeY;

    void Start()
    {
        dotDiameter = dotRadius * 2;
        gridSizeY =  Mathf.RoundToInt(navsphereRadius / dotDiameter);
        halfGridSizeY = Mathf.RoundToInt(gridSizeY / 2);
        CreateNavGridArray();
        CreateLayers();
    }

    void CreateNavGridArray()
    {
        float maxLayerRadius = navsphereRadius;
        int maxCircleCount = Mathf.RoundToInt(maxLayerRadius * 2 / dotDiameter/2);
        float maxCircleRadius = maxCircleCount * dotDiameter;
        float maxCircleLength = Mathf.PI * maxCircleRadius * 2;
        int maxDotsCount = Mathf.RoundToInt(maxCircleLength / dotDiameter);

        navGridArray = new Dot[2*halfGridSizeY+1, maxCircleCount+1, maxDotsCount+1];
        //Debug.Log(gridSizeY +" "+ maxCircleCount +" "+ maxDotsCount);
    }

    void CreateLayers()
    {
        for (int y = 0 - halfGridSizeY; y< halfGridSizeY+1; y++)
        {
            Vector3 layerCenter = new Vector3(transform.position.x, transform.position.y + y*dotDiameter + dotRadius, transform.position.z);
            float layerRadius = Mathf.Sqrt(Mathf.Pow(navsphereRadius,2) - Mathf.Pow(y, 2));
            int circleCount = Mathf.RoundToInt(layerRadius*2 / dotDiameter/2);
            int layerNumber = y + gridSizeY / 2;
            CreateCircles(layerCenter, circleCount, layerNumber);
            //Debug.Log("___Layer done");
        }
    }

    void CreateCircles(Vector3 layerCenter, int circleCount, int layerNumber)
    {
        for (int x = 0; x<circleCount; x++)
        {
            Vector3 circleCenter = layerCenter;
            float circleRadius = x * dotDiameter;
            float circleLength = Mathf.PI * circleRadius * 2;
            int dotsCount = Mathf.RoundToInt( circleLength / dotDiameter);
            CreateDots(dotsCount, circleRadius, circleLength, circleCenter, x, layerNumber);
            //Debug.Log("__Circle done");
        }
    }

    void CreateDots(int dotsCount, float circleRadius , float circleLength, Vector3 circleCenter, int circleNumber, int layerNumber)
    {

        for(int i = 0; i< dotsCount; i++)
        {
            Vector3 currentDot = new Vector3(circleRadius, 0, 0);
            Vector3 dotWorldPositionV3 = new Vector3(0, circleCenter.y, 0) + currentDot;
            bool isWalkable = !(Physics.CheckSphere(dotWorldPositionV3, dotRadius));
            navGridArray[layerNumber, circleNumber, i] = new Dot(isWalkable, dotWorldPositionV3);

            //Debug.Log(layerNumber +", "+ circleNumber + ", "+ i);
            //Debug.Log("_Dot done");

            float cosA = Mathf.Pow(dotDiameter, 2) / (2 * dotDiameter * circleRadius);
            float xshift = dotDiameter * cosA;
            float zshift = Mathf.Sqrt(Mathf.Pow(dotDiameter, 2) - Mathf.Pow(xshift, 2));
            currentDot = currentDot + new Vector3(xshift, 0, zshift);
        }
    }

    void OnDrawGizmos()
    {
        Gizmos.DrawWireSphere(transform.position, navsphereRadius);
        Debug.Log(navGridArray != null);
        if (navGridArray != null)
        {
            foreach (Dot n in navGridArray)
            {
                if (n != null)
                {
                    Gizmos.color = Color.red;
                    Gizmos.DrawCube(n.dotWorldPositionV3, Vector3.one * (dotDiameter - 0.1f));
                    Debug.Log(n.dotWorldPositionV3);
                }
            }
        }
    }


}