private void OnDrawGizmos()
{
if (m_Grid == null)
{
return;
}
foreach (Node node in m_Grid.EnumerableAllNodes())
{
if (node.NextNode == null)
{
continue;
}
if (node.IsOccupied)
{
Gizmos.color = Color.black;
Gizmos.DrawSphere(node.Position, 0.5f);
continue;
}
Gizmos.color = Color.red;
Vector3 start = node.Position;
Vector3 end = node.NextNode.Position;
Vector3 dir = end - start;
start -= dir * 0.25f;
end -= dir * 0.75f;
Gizmos.DrawLine(start, end);
Gizmos.DrawSphere(end, 0.1f);
}
}
public void UpdateField()
{
foreach (Node node in m_Grid.EnumerableAllNodes())
{
node.ResetWeight();
node.m_OccupationAvailability = OccupationAvailability.Undefined;
}
Queue <Vector2Int> queue = new Queue <Vector2Int>();
queue.Enqueue(m_Target);
m_Grid.GetNode(m_Target).PathWeight = 0f;
Node currentNode;
while (queue.Count > 0)
{
Vector2Int current = queue.Dequeue();
currentNode = m_Grid.GetNode(current);
foreach (Connection neighbour in GetNeighbours(current))
{
Node neighbourNode = m_Grid.GetNode(neighbour.Coordinate);
if (currentNode.PathWeight + neighbour.Weight < neighbourNode.PathWeight)
{
neighbourNode.NextNode = currentNode;
neighbourNode.PathWeight = currentNode.PathWeight + neighbour.Weight;
queue.Enqueue(neighbour.Coordinate);
}
}
}
foreach (Node node in m_Grid.EnumerableAllNodes())
{
node.m_OccupationAvailability = OccupationAvailability.CanOccupy;
}
m_Grid.GetNode(m_Start).m_OccupationAvailability = OccupationAvailability.CanNotOccupy;
currentNode = m_Grid.GetNode(m_Start).NextNode;
while (currentNode != m_Grid.GetNode(m_Target))
{
currentNode.m_OccupationAvailability = OccupationAvailability.Undefined;
currentNode = currentNode.NextNode;
}
m_Grid.GetNode(m_Target).m_OccupationAvailability = OccupationAvailability.CanNotOccupy;
}
