private void OnDrawGizmos()
{
if (m_Grid == null)
{
return;
}
foreach (Node node in m_Grid.AllNodes())
{
if (node.NextNode == null)
{
continue;
}
Vector3 start = node.Position;
if (node.IsOccupied)
{
Gizmos.color = Color.blue;
Vector3 size = Vector3.one * 0.5f;
Gizmos.DrawCube(start, size);
continue;
}
if (node.OccupationAvailability == EOccupationAvailability.Undefined)
{
Gizmos.color = Color.yellow;
}
else if (node.OccupationAvailability == EOccupationAvailability.CanOccupy)
{
Gizmos.color = Color.green;
}
else
{
Gizmos.color = Color.red;
}
//Gizmos.color = Color.red;
Vector3 end = node.NextNode.Position;
Vector3 dir = end - start;
start -= dir * .25f;
end -= dir * .75f;
Gizmos.DrawLine(start, end);
Gizmos.DrawSphere(end, .1f);
}
}
// Dijkstra algorithm
public void UpdateField()
{
foreach (Node node in m_Grid.AllNodes())
{
node.ResetWeight();
}
var heap = new SortedSet <Vector2Int>(new DijkstraCompare(m_Grid));
m_Grid.GetNode(m_Target).PathWeight = 0f;
heap.Add(m_Target);
while (heap.Count > 0)
{
Vector2Int current = heap.Min;
heap.Remove(current);
Node currentNode = m_Grid.GetNode(current);
foreach (Connection neighbour in GetNeighbours(current))
{
Node neighbourNode = m_Grid.GetNode(neighbour.coord);
float weightToTarget = currentNode.PathWeight + neighbour.weight;
if (weightToTarget < neighbourNode.PathWeight)
{
if (heap.Contains(neighbour.coord))
{
heap.Remove(neighbour.coord);
}
neighbourNode.NextNode = currentNode;
neighbourNode.PathWeight = weightToTarget;
heap.Add(neighbour.coord);
}
}
}
}
