public void UpdatePaths()
{
ResetAllWeights();
Queue <Vector2Int> queue = new Queue <Vector2Int>();
m_Grid.GetNode(m_FinalTarget).PathWeight = 0f;
queue.Enqueue(m_FinalTarget);
while (queue.Count > 0)
{
Vector2Int current = queue.Dequeue();
Node currentNode = m_Grid.GetNode(current);
foreach (Vector2Int neighbour in GetNeighbours(current))
{
Node neighbourNode = m_Grid.GetNode(neighbour);
if (!m_Grid.CheckCoordinate(neighbour) || neighbourNode.IsOccupied)
{
continue;
}
if ((current - neighbour).magnitude > 1)
{
// checking adjacent nodes
if (GetNeighbours(current).Any(adj =>
CheckAdjacent(adj, current) && CheckAdjacent(adj, neighbour) &&
m_Grid.GetNode(adj).IsOccupied))
{
continue;
}
}
if (currentNode.PathWeight + (current - neighbour).magnitude < neighbourNode.PathWeight)
{
neighbourNode.NextNode = currentNode;
neighbourNode.PathWeight = currentNode.PathWeight + (current - neighbour).magnitude;
queue.Enqueue(neighbour);
}
}
}
CalculateAccessibility();
}
