/// <summary>
/// Resets the algorithm for a new location.
/// </summary>
private void Reset(Vector2Int start, Vector2Int goal)
{
//Creates an heap the size of the map
m_heap = new MinHeap(Map.GetSize());
Map.Reset();
m_goal = goal;
Start = start;
m_previousStart = Start;
Map.GetNode(m_goal).Rhs = 0;
m_heap.Insert(m_goal, CalculatePriority(m_goal));
m_travelledDistance = 0;
}
/// <summary>
/// Checks if one of the coordinates contains an obstacle
/// </summary>
private static bool CheckIfNodeContainsObstacle(List <Vector2Int> passingCoordinates, NavigationGraph map)
{
foreach (Vector2Int coordinate in passingCoordinates)
{
if (map.GetNode(coordinate).IsObstacle())
{
// There is a wall in the colliding line
return(true);
}
}
// No wall is found between these coordinates
return(false);
}