void OnDrawGizmos()
{
if (m_mat == null)
{
m_mat = new Material(Shader.Find("Unlit/Color"));
}
m_mat.SetColor("_Color", Color.black);
List <Polygon> obstacles = new List <Polygon>()
{
new Polygon(new Vector2[]
{
new Vector2(100, 50),
new Vector2(100, 100),
new Vector2(180, 100),
new Vector2(180, 50),
}),
new Polygon(new Vector2[]
{
new Vector2(250, 120),
new Vector2(230, 140),
new Vector2(250, 160),
new Vector2(290, 150),
}),
new Polygon(new Vector2[]
{
new Vector2(90, 130),
new Vector2(70, 150),
new Vector2(110, 150),
}),
new Polygon(new Vector2[]
{
new Vector2(150, 200),
new Vector2(150, 250),
new Vector2(280, 250),
new Vector2(280, 200),
}),
};
for (int i = 0; i < obstacles.Count; i++)
{
GraphicsTool.DrawPolygon(obstacles[i].Points, m_mat, true, true);
}
m_mat.SetColor("_Color", Color.yellow);
List <GraphNode> nodes = VisibilityGraphGenerator.Generate(m_start, m_end, obstacles);
for (int a = 0; a < nodes.Count; a++)
{
var n = nodes[a];
GraphicsTool.DrawPoint(nodes[a].Center, 3, m_mat);
for (int i = 0; i < n.Neighbors.Count; i++)
{
GraphicsTool.DrawLine(n.Center, n.Neighbors[i].Center, m_mat);
}
}
m_mat.SetColor("_Color", Color.red);
GraphicsTool.DrawPoint(m_start, 4, m_mat);
GraphicsTool.DrawPoint(m_end, 4, m_mat);
GraphNode startNode = nodes[nodes.Count - 2];
GraphNode endNode = nodes[nodes.Count - 1];
GraphAStar astar = new GraphAStar(startNode, endNode);
astar.Process();
List <Vector2> path = new List <Vector2>();
while (endNode != null)
{
path.Add(endNode.Center);
endNode = endNode.Parent;
}
GraphicsTool.DrawPolygon(path, m_mat, false);
}
