public void GenerateWayPoint()
{
Queue <WayPoint> wayPointQueue = new Queue <WayPoint>();
Vector2Int[] nextKeys = new Vector2Int[4];
Vector2 nextPosition;
WayPoint nextWayPoint;
Vector2 curPosition = m_centerPosition;
Vector2Int curKey = m_centerKey;
WayPoint curWayPoint = new WayPoint(curKey);
Collider2D obstacle = Physics2D.OverlapBox(curPosition, m_gapSize, 0.0f, m_obstacleLayer);
if (obstacle == null)
{
m_wayPointManager.AddWayPoint(curWayPoint);
}
wayPointQueue.Enqueue(curWayPoint);
// BFS Algorithm
while (wayPointQueue.Count != 0)
{
curWayPoint = wayPointQueue.Dequeue();
curKey = curWayPoint.Key;
// Keys of Right, Up, Left, Down Side
nextKeys[0] = new Vector2Int(curKey.x + 1, curKey.y);
nextKeys[1] = new Vector2Int(curKey.x, curKey.y + 1);
nextKeys[2] = new Vector2Int(curKey.x - 1, curKey.y);
nextKeys[3] = new Vector2Int(curKey.x, curKey.y - 1);
for (int i = 0; i < 4; i++)
{
// if nextKeys were not out of boundary
if (((nextKeys[i].x >= m_leftDownKey.x && nextKeys[i].y >= m_leftDownKey.y) &&
(nextKeys[i].x <= m_rightUpKey.x && nextKeys[i].y <= m_rightUpKey.y)))
{
nextPosition = m_wayPointManager.ConvertKeyToPosition(nextKeys[i]);
obstacle = Physics2D.OverlapBox(nextPosition, m_gapSize, 0.0f, m_obstacleLayer);
if (obstacle == null)
{
nextWayPoint = new WayPoint(nextKeys[i]);
Vector2 position = m_wayPointManager.ConvertKeyToPosition(nextKeys[i]);
if (m_wayPointManager.AddWayPoint(nextWayPoint))
{
wayPointQueue.Enqueue(nextWayPoint);
}
}
}
}
}
}