void InitializeGraph()
{
graph = new GraphProject.Graph <Transform>();
solver = new GraphProject.Solver <Transform>();
solver.graph = graph;
HashSet <Transform> set = new HashSet <Transform>();
set.UnionWith(start);
set.UnionWith(end);
set.RemoveWhere(IsObsrtructed);
for (int i = 0; i < start.Count; ++i)
{
if (start[i] != null && end[i] != null && ValidateEdge(start[i], end[i]))
{
start[i] = null;
end[i] = null;
}
}
//for (int i = 0; i < start.Count; ++i)
//{
// if (IsObsrtructed(start[i]))
// {
// start[i] = null;
// }
//}
//for (int i = 0; i < end.Count; ++i)
//{
// if (IsObsrtructed(end[i]))
// {
// end[i] = null;
// }
//}
foreach (var trans in set)
{
if (trans != null)
{
graph.AddNode(trans);
}
}
for (int i = 0; i < start.Count; ++i)
{
if (start[i] != null && end[i] != null)
{
graph.addEdge(start[i], end[i], diff, 0.0001f, diff(start[i], end[i]));
}
}
}