//update the graph by replacing the used nodes for obstacle at index with nodes stored in nodeGroups
public void updateGraph(int index, List <List <Node> > nodeGroups, bool isStandingStill)
{
pathCrossesAgentPath = false;
timeFrameOffset = followPathScript.getCurrentTimeFrame();
//if obstacle is not moving we want to fill it's current position in all time frames
//we don't shift back to prevent loss of nodes at the end where they overflow.
if (isStandingStill)
{
timeFrameOffset = 0;
}
//if path for index exist
if (obstPaths.Count > index)
{
cleanObstPath(index, false);
obstPaths[index] = new List <List <Node> >();
foreach (List <Node> nodeGroup in nodeGroups)
{
List <Node[]> nodeList = getNodeListAndMarkNodes(nodeGroup);
List <Node> beforeNodes = new List <Node>();
List <Node> currentNodes = new List <Node>();
List <Node> afterNodes = new List <Node>();
foreach (Node[] nodeBeforeAfterCurrent in nodeList)
{
beforeNodes.Add(nodeBeforeAfterCurrent[0]);
currentNodes.Add(nodeBeforeAfterCurrent[1]);
afterNodes.Add(nodeBeforeAfterCurrent[2]);
}
beforeNodes.RemoveAll(item => item == null);
currentNodes.RemoveAll(item => item == null);
afterNodes.RemoveAll(item => item == null);
//in first iteration we add lists for current, after and before(if it exists)
//in second iteration the current nodes get added to the previous after list
//and before nodes get added to the previous current list
if (obstPaths[index].Count == 0)
{
if (beforeNodes.Count > 0)
{
obstPaths[index].Add(beforeNodes);
}
obstPaths[index].Add(currentNodes);
}
else
{
foreach (Node node in beforeNodes)
{
obstPaths[index][obstPaths[index].Count - 2].Add(node);
}
foreach (Node node in currentNodes)
{
obstPaths[index][obstPaths[index].Count - 1].Add(node);
}
}
if (obstPaths[index].Count < GridSizeZ)
{
obstPaths[index].Add(afterNodes);
}
}
}
visObstManagerScript.addToRecalcObstCounter();
//pathCrossesAgent path is global var that gets set in the markNodeWithOffset method
//this happens as soon as any collision with the agent path is found
if (pathCrossesAgentPath)
{
findPathScript.addToRecalcQueue(index);
}
}