/// <summary>
/// Re-evaluates the entire goal map. Should be called when obstacles change. If the
/// obstacles have not changed but the goals have, call <see cref="UpdatePathsOnly" /> for better efficiency.
/// </summary>
/// <returns>False if no goals were produced by the evaluator, true otherwise</returns>
public bool Update()
{
if (BaseMap.Bounds() != this.Bounds())
{
throw new InvalidOperationException(
$"Grid views used as the {nameof(BaseMap)} for {nameof(GoalMap)} instances must not change size.");
}
_walkable.Clear();
for (var y = 0; y < BaseMap.Height; ++y)
{
for (var x = 0; x < BaseMap.Width; ++x)
{
var state = BaseMap[x, y];
if (state == GoalState.Obstacle)
{
_goalMap[x, y] = null;
}
else
{
_walkable.Add(new Point(x, y));
}
}
}
return(UpdatePathsOnlyUnchecked());
}
/// <summary>
/// Re-evaluates the walkable portion of the goal map. Should be called anytime the goals change
/// but the obstacles haven't. If the obstacles have also changed, call <see cref="Update" /> instead.
/// </summary>
/// <returns>False if no goals were produced by the evaluator, true otherwise</returns>
public bool UpdatePathsOnly()
{
if (BaseMap.Bounds() != this.Bounds())
{
throw new InvalidOperationException(
$"Grid views used as the {nameof(BaseMap)} for {nameof(GoalMap)} instances must not change size.");
}
return(UpdatePathsOnlyUnchecked());
}
