public override void Create()
{
Graph = new SparseGraph(false);
for (int row = 0; row < rows; row++)
{
for (int column = 0; column < columns; column++)
{
var nodePosition =
new Vector2(
column * cellWidth - cellWidth * (columns - 1) / 2,
row * cellHeight - cellHeight * (rows - 1) / 2);
var node = new Node(row * columns + column)
{
Position = nodePosition
};
int nodeIndex = Graph.AddNode(node);
if (IsPointInObstacle(nodePosition))
{
Graph.GetNode(nodeIndex).Index = Node.INVALID_NODE_INDEX;
}
else
{
//AddNodeObject(node, nodePosition);
}
}
}
for (int nodeIndex = 0; nodeIndex < Graph.NumNodes; nodeIndex++)
{
if (!Graph.IsNodePresent(nodeIndex))
{
continue;
}
Node node = Graph.GetNode(nodeIndex);
int rightIndex = nodeIndex + 1;
if (rightIndex % columns != 0 && Graph.IsNodePresent(rightIndex))
{
Node rightNode = Graph.GetNode(rightIndex);
if (!IsPathObstructed(node.Position, rightNode.Position))
{
var rightEdge = new Edge(nodeIndex, rightIndex, cellWidth);
Graph.AddEdge(rightEdge);
//AddEdgeObject(rightEdge, node.Position, rightNode.Position);
}
}
int downIndex = nodeIndex + columns;
if (downIndex < Graph.NumNodes && Graph.IsNodePresent(downIndex))
{
Node downNode = Graph.GetNode(downIndex);
if (!IsPathObstructed(node.Position, downNode.Position))
{
var downEdge = new Edge(nodeIndex, downIndex, cellHeight);
Graph.AddEdge(downEdge);
//AddEdgeObject(downEdge, node.Position, downNode.Position);
}
}
if (!useDiagonals)
{
continue;
}
int diagIndex = nodeIndex + columns + 1;
if (diagIndex < Graph.NumNodes && diagIndex % columns != 0 &&
Graph.IsNodePresent(diagIndex))
{
Node diagNode = Graph.GetNode(diagIndex);
if (!IsPathObstructed(node.Position, diagNode.Position))
{
var diagEdge = new Edge(nodeIndex, diagIndex, cellDiagonal);
Graph.AddEdge(diagEdge);
//AddEdgeObject(diagEdge, node.Position, diagNode.Position);
}
}
int backDiagIndex = nodeIndex + columns - 1;
if (backDiagIndex < Graph.NumNodes && backDiagIndex % columns != columns - 1 &&
Graph.IsNodePresent(backDiagIndex))
{
Node backDiagNode = Graph.GetNode(backDiagIndex);
if (!IsPathObstructed(node.Position, backDiagNode.Position))
{
var backDiagEdge = new Edge(nodeIndex, backDiagIndex, cellDiagonal);
Graph.AddEdge(backDiagEdge);
//AddEdgeObject(backDiagEdge, node.Position, backDiagNode.Position);
}
}
}
}