public List <(int, int)> GetSuccessors()
{
List <(int, int)> successors = new List <(int, int)>();
float hit_len = 1.0f;
Ray fwd = new Ray(transform.position, transform.forward);
Ray bkwd = new Ray(transform.position, -transform.forward);
Ray right = new Ray(transform.position, transform.right);
Ray left = new Ray(transform.position, -transform.right);
Ray[] directions = { fwd, bkwd, right, left };
RaycastHit hit;
foreach (Ray i in directions)
{
if (Physics.Raycast(i, out hit, hit_len))
{
GndController surrounding = hit.collider.gameObject.GetComponent <GndController>();
if (surrounding.is_walkable)
{
successors.Add(surrounding.GetCoordinate());
}
}
}
return(successors);
}
private void Awake()
{
if (m_instance != null && m_instance != this)
{
Destroy(this.gameObject);
}
m_instance = this;
gnds = GameObject.FindGameObjectsWithTag("Ground");
grid = new GndController[length, width];
foreach (GameObject gnd in gnds)
{
GndController gndController = gnd.GetComponent <GndController>();
int x = gndController.GetCoordinate().Item1;
int y = gndController.GetCoordinate().Item2;
grid[x, y] = gndController;
}
}