/// <summary>
/// Constructs a Grid instance from the given walkability informations.
/// </summary>
/// <param name="walkabilityReader">Reference to the object that provides the walkability informations.</param>
/// <param name="maxMovingSize">The maximum size of moving agents.</param>
public Grid(IWalkabilityReader walkabilityReader, int maxMovingSize)
{
this.agents = new RCSet <Agent>();
this.cells = new Cell[walkabilityReader.Width, walkabilityReader.Height];
this.width = walkabilityReader.Width;
this.height = walkabilityReader.Height;
this.maxMovingSize = maxMovingSize;
this.obstacleEnvironment = new ObstacleEnvironment(this.maxMovingSize);
/// Create the array of sectors
int horzSectorCount = this.Width / Sector.SECTOR_SIZE;
int vertSectorCount = this.Height / Sector.SECTOR_SIZE;
if (this.Width % Sector.SECTOR_SIZE > 0)
{
horzSectorCount++;
}
if (this.Height % Sector.SECTOR_SIZE > 0)
{
vertSectorCount++;
}
Sector[,] sectors = new Sector[horzSectorCount, vertSectorCount];
/// Create the cells.
for (int row = 0; row < this.height; row++)
{
for (int column = 0; column < this.width; column++)
{
/// Get the sector of the cell to be created of create the sector if not yet been created.
RCIntVector sectorIndex = new RCIntVector(column / Sector.SECTOR_SIZE, row / Sector.SECTOR_SIZE);
Sector sectorOfCell = sectors[sectorIndex.X, sectorIndex.Y];
if (sectorOfCell == null)
{
RCIntRectangle sectorArea = new RCIntRectangle(sectorIndex.X * Sector.SECTOR_SIZE, sectorIndex.Y * Sector.SECTOR_SIZE, Sector.SECTOR_SIZE, Sector.SECTOR_SIZE);
sectorOfCell = new Sector(sectorArea, this);
sectors[sectorIndex.X, sectorIndex.Y] = sectorOfCell;
}
/// Create the cell and add it to its sector.
this.cells[column, row] = new Cell(new RCIntVector(column, row), walkabilityReader[column, row], this, sectorOfCell);
}
}
/// Calculate the intial subdivisions of the sectors.
for (int sectorIndexX = 0; sectorIndexX < horzSectorCount; sectorIndexX++)
{
for (int sectorIndexY = 0; sectorIndexY < vertSectorCount; sectorIndexY++)
{
sectors[sectorIndexX, sectorIndexY].CreateInitialSubdivisions();
}
}
}
/// <see cref="IPathfinder.Initialize"/>
public void Initialize(IWalkabilityReader walkabilityReader, int maxMovingSize)
{
if (walkabilityReader == null)
{
throw new ArgumentNullException("walkabilityReader");
}
if (maxMovingSize < 1)
{
throw new ArgumentOutOfRangeException("maxMovingSize", "The value of maxMovingSize shall be greater than 0!");
}
/// Create the new grid.
this.grid = new Grid(walkabilityReader, maxMovingSize);
}
