/// <summary>
/// Constructor of the graph class
/// </summary>
/// <param name="rootPosition">Position of the first node</param>
/// <param name="data">Data-Structure containing the matrix where the information about the environment is saved</param>
/// <param name="nodeObj">Model of the node that will be spawned</param>
/// <param name="deadNodeMaterial">Material assigned to the node once it has been deactivated</param>
/// <param name="doNotSpawnAnything">If TRUE indicates that the node doesn't spawn the model and the archs between nodes</param>
public Graph(Vector3 rootPosition, dataCollector.Data data, GameObject nodeObj, Material deadNodeMaterial, bool doNotSpawnAnything = false)
{
this.nodeObj = nodeObj;
this.deadNodeMaterial = deadNodeMaterial;
this.doNotSpawnAnything = doNotSpawnAnything;
root = new Node(rootPosition, nodeObj, deadNodeMaterial, this, null, doNotSpawnAnything);
activeNodes = new LinkedList <Node>();
activeNodes.AddFirst(root);
allNodes = new List <Node>();
allNodes.Add(root);
this.data = data;
// sectors structure inizialization
upperLeftPoint = data.indxToV3(new dataCollector.indx(0, 0));
float totalLengthOfExplorableZone = Mathf.Abs(upperLeftPoint.x - data.indxToV3(new dataCollector.indx(data.getArraySize() - 1, 0)).x);
sectorWidth = totalLengthOfExplorableZone * sectorPercentualWidth;
sectorsDim = (int)(1 / sectorPercentualWidth);
sectors = new List <Node> [sectorsDim, sectorsDim];
for (int i = 0; i < sectorsDim; i++)
{
for (int j = 0; j < sectorsDim; j++)
{
sectors[i, j] = new List <Node>();
}
}
assignNodeToSector(root);
}
/// <summary>
/// Sets the matrix containing the information that the dataDrawer will use to paint a map
/// </summary>
/// <param name="data">Matrix where the information is contained</param>
public void setData(dataCollector.Data data)
{
this.data = data; dirtyList = data.getDirtyValuesList();
}