public void UpdateGraph(ICellMap map, ICellFragment cellFragment, HierarchicalMap graph, NeighbourMode neighbourMode)
{
var clusterMatrix = graph.ZeroLevelClusters;
int clusterWidth = graph.ClusterDefaultWidth;
int clusterHeight = graph.ClusterDefaultHeight;
Vector2Int fragmentSize = new Vector2Int(cellFragment.Width, cellFragment.Height);
Vector2Int leftBottomClusterPosition = GetContainingClusterPosition(clusterMatrix, clusterWidth, clusterHeight, cellFragment.LeftBottom);
Vector2Int rightTopClusterPosition = GetContainingClusterPosition(clusterMatrix, clusterWidth, clusterHeight, cellFragment.LeftBottom + fragmentSize);
int iMin = leftBottomClusterPosition.X;
int iMax = rightTopClusterPosition.X;
int jMin = leftBottomClusterPosition.Y;
int jMax = rightTopClusterPosition.Y;
for (int i = iMin; i <= iMax; i++)
{
for (int j = jMin; j <= jMax; j++)
{
CellCluster currentCluster = clusterMatrix[i, j];
int prevI = i - 1;
int prevJ = j - 1;
int nextJ = j + 1;
if (prevI >= iMin)
{
CellCluster neighbourCluster = clusterMatrix[prevI, j];
RemoveTransitionNodes(currentCluster, neighbourCluster, graph);
ProceedNeighbourClusters(currentCluster, neighbourCluster, graph);
}
if (prevJ >= jMin)
{
CellCluster neighbourCluster = clusterMatrix[i, prevJ];
RemoveTransitionNodes(currentCluster, neighbourCluster, graph);
ProceedNeighbourClusters(currentCluster, neighbourCluster, graph);
}
}
}
for (int i = iMin; i <= iMax; i++)
{
for (int j = jMin; j <= jMax; j++)
{
CellCluster currentCluster = clusterMatrix[i, j];
currentCluster.CalculatePaths(neighbourMode, null);
}
}
}
public void AddObstacle(ICellFragment cellCluster)
{
_layeredCellMap.AddFragment(cellCluster);
}
public void AddFragment(ICellFragment fragment)
{
_layers.Add(fragment);
_layerOffsets.Add(fragment.LeftBottom);
}
public void AddObstacle(ICellFragment cellCluster)
{
throw new NotImplementedException();
}
public void AddObstacle(ICellFragment cellCluster)
{
_userObstacles.Add(cellCluster);
}
