/// <summary>
/// Rasterize the obstacles into the grid.
/// </summary>
public void Rasterize()
{
// Clear the path grid from all blockages
for (int i = 0; i < m_pathGrid.NumberOfCells; i++)
{
m_pathGrid.SetSolidity(i, false);
}
// Render all of the footprints into the path grid as blocked
FootprintComponent[] footprintArray = (FootprintComponent[])GameObject.FindObjectsOfType(typeof(FootprintComponent));
foreach (FootprintComponent footprint in footprintArray)
{
int numObstructedCells = 0;
int[] obstructedCells = footprint.m_static ?
footprint.GetCachedObstructedCells(m_pathGrid, out numObstructedCells) :
footprint.GetObstructedCells(m_pathGrid, out numObstructedCells);
for (int i = 0; i < numObstructedCells; i++)
{
int obstructedCellIndex = obstructedCells[i];
if (m_pathGrid.IsInBounds(obstructedCellIndex))
{
m_pathGrid.SetSolidity(obstructedCellIndex, true);
}
}
}
}
