void BuildGraph()
{
var gb = new SimpleGraphBuilder();
var positions = new List <Vector3>();
for (int i = 0; i < gridSpace.NumCells; i++)
{
positions.Add(gridSpace.GetBounds(i).center);
gb.NewNode();
var neighbours = new List <int>();
foreach (var dir in CompassDirection.PrincipalDirections)
{
int neighbour;
if (gridSpace.TryGetNeighbour(i, dir, out neighbour))
{
neighbours.Add(neighbour);
}
}
gb.AddArcs(neighbours.ToArray());
}
var graph = gb.Build();
potentialFieldSys.SetGraph(graph, positions.ToArray());
}
/// <summary>
/// Builds a <see cref="SimpleGraph"/> of the mesh with one node per vertex and a directed arc for each connecting triangle edge.
/// </summary>
/// <remarks>
/// The mesh must not have co-incident vertices to work properly. Imported meshes usually have duplicate vertices so that UVs and
/// normals can be stored. Setting the normals mode to "calculate", with a smoothing angle of 180 degrees, will remove the duplicates.
/// </remarks>
/// <returns>The graph.</returns>
/// <param name="mesh">The mesh to build the graph for.</param>
public static SimpleGraph BuildSimpleGraph(this Mesh mesh)
{
var verts = mesh.vertices;
var tris = mesh.triangles;
var builder = new SimpleGraphBuilder();
for (int i = 0; i < verts.Length; i++)
{
builder.NewNode();
var arcs = new HashSet <int>();
for (int j = 0; j < tris.Length; j += 3)
{
var i0 = tris[j];
var i1 = tris[j + 1];
var i2 = tris[j + 2];
if (i0 == i)
{
arcs.Add(i1);
arcs.Add(i2);
}
else if (i1 == i)
{
arcs.Add(i0);
arcs.Add(i2);
}
else if (i2 == i)
{
arcs.Add(i0);
arcs.Add(i1);
}
}
builder.AddArcs(arcs.ToArray());
}
return(builder.Build());
}
protected internal virtual Dijkstra <double> GetDijkstra(SimpleGraphBuilder graph, double?startCost, string startNode, string endNode)
{
return(new Dijkstra <double>(startCost, graph.GetNode(startNode), graph.GetNode(endNode), CommonEvaluators.doubleCostEvaluator("cost"), new DoubleAdder(), double?.compareTo, Direction.BOTH, MyRelTypes.R1));
}
