//--------------------------- CreateSimpleGrid --------------------------
//
// creates a graph based on a grid layout. This function requires the
// dimensions of the environment and the number of cells required horizontally
// and vertically
//-----------------------------------------------------------------------------
public static void Helper_CreateGrid(SparseGraph graph,
int cySize,
int cxSize,
int NumCellsY,
int NumCellsX)
{
//need some temporaries to help calculate each node center
double CellWidth = (double)cySize / (double)NumCellsX;
double CellHeight = (double)cxSize / (double)NumCellsY;
double midX = CellWidth / 2;
double midY = CellHeight / 2;
//first create all the nodes
for (int row = 0; row < NumCellsY; ++row)
{
for (int col = 0; col < NumCellsX; ++col)
{
graph.AddNode(new NavGraphNode(graph.GetNextFreeNodeIndex(),
new Vector2D(midX + (col * CellWidth),
midY + (row * CellHeight))));
}
}
//now to calculate the edges. (A position in a 2d array [x][y] is the
//same as [y*NumCellsX + x] in a 1d array). Each cell has up to eight
//neighbours.
for (int row = 0; row < NumCellsY; ++row)
{
for (int col = 0; col < NumCellsX; ++col)
{
Helper_AddAllNeighboursToGridNode(graph, row, col, NumCellsX, NumCellsY);
}
}
}
