//Not meant for real-time use
public void ConstructGraph()
{
if (meshGraph == null)
{
Debug.Log("No mesh to operate on! Please set meshGraph before calling this function");
return;
}
//Create a sampler Gameobject to perform raycasts to neighboring nodes
Sampler = new GameObject("Sampler");
List <int> neighbors;
List <int> DeadVertices = new List <int>();
List <pathNode> DeadNodes = new List <pathNode>();
simpleGraph = new GraphSimple();
simpleGraph.AddNodes(meshGraph.vertexCount);
float dist = 0;
for (int i = 0; i < meshGraph.vertexCount; i++)
{
//if(DeadVertices.Contains(i))
//continue;
neighbors = GetNeighbors(i);
pathNode currentNode = simpleGraph.graph[i];
currentNode.position = transform.TransformPoint(meshGraph.vertices[i]);
for (int j = 0; j < neighbors.Count; j++)
{
dist = Vector3.Distance(transform.TransformPoint(meshGraph.vertices[i]), transform.TransformPoint(meshGraph.vertices[neighbors[j]]));
currentNode.neighbors.Add(simpleGraph.graph[neighbors[j]]);
currentNode.weight.Add(dist);
Sampler.transform.position = transform.TransformPoint(meshGraph.vertices[i]);
if (Physics.Raycast(Sampler.transform.position, Vector3.Normalize(meshGraph.vertices[neighbors[j]] - meshGraph.vertices[i]), dist))
{
if (!DeadVertices.Contains(neighbors[j]))
{
DeadVertices.Add(neighbors[j]); DeadNodes.Add(simpleGraph.graph[neighbors[j]]); break;
}
}
}
//Debug.Log(i);
}
foreach (pathNode node in DeadNodes)
{
simpleGraph.DeleteNode(node.ID);
}
//Rebuild mesh
NavMeshGenerator.RemoveTriangles(meshGraph, DeadVertices);
}
