/// <summary>
/// Returns if there are changes to the map or not.
/// </summary>
private bool CheckForMapChanges()
{
// Check if bot sees new obstacles
HashSet <Vector2Int> coordinatesInSight = m_environment.GetIlluminatedCoordinates(Start);
bool change = false;
foreach (Vector2Int coordinates in coordinatesInSight)
{
// What the bot knows of the node
Node knownNode = Map.GetNode(coordinates.x, coordinates.y);
// What the node actually is
Tile actualNodeContent = m_environment.GetNode(coordinates);
// If the obstacle was not previously known or the obstacle has been removed
if (knownNode.Content != actualNodeContent)
{
change = true;
knownNode.Content = actualNodeContent;
foreach (Vector2Int surroundingCoordinates in Map.GetSurroundingOpenSpaces(coordinates))
{
UpdateVertex(surroundingCoordinates);
}
}
}
ComputeShortestPath();
return(change);
}
