public static DijkstraTile[,] generateDijkstraGrid(DijkstraTile[,] grid, Vector2Int gridSize, DijkstraTile target)
{
//flood fill out from the end point
DijkstraTile destination = target;
destination.setWeight(0);
grid[destination.getVector2d().x, destination.getVector2d().y].setWeight(0);
List <DijkstraTile> toVisit = new List <DijkstraTile>();
toVisit.Add(destination);//check this maybe!!!
//for each node we need to visit, starting with the pathEnd
for (int i = 0; i < toVisit.Count; i++)
{
List <DijkstraTile> neighbours = straightNeighboursOf(toVisit[i], gridSize);
//for each neighbour of this node (only straight line neighbours, not diagonals)
foreach (DijkstraTile neighbour in neighbours)
{
//We will only ever visit every node once as we are always visiting nodes in the most efficient order
if (grid[neighbour.getVector2d().x, neighbour.getVector2d().y].getWeight() == -1) //if tile has not been visited
{
neighbour.setWeight(toVisit[i].getWeight() + 1);
grid[neighbour.getVector2d().x, neighbour.getVector2d().y].setWeight(neighbour.getWeight());
toVisit.Add(neighbour);
}
}
}
return(grid);
}
void CreateGrid()
{
NodeArray = new DijkstraTile[iGridSizeX, iGridSizeY]; //Declare the array of nodes.
Vector3 bottomLeft = transform.position - Vector3.right * vGridWorldSize.x / 2 - Vector3.forward * vGridWorldSize.y / 2; //Get the real world position of the bottom left of the grid.
for (int x = 0; x < iGridSizeX; x++) //Loop through the array of nodes.
{
for (int y = 0; y < iGridSizeY; y++) //Loop through the array of nodes
{
Vector3 worldPoint = bottomLeft + Vector3.right * (x * fNodeDiameter + fNodeRadius) + Vector3.forward * (y * fNodeDiameter + fNodeRadius); //Get the world co ordinates of the bottom left of the graph
DijkstraTile tile = new DijkstraTile(new Vector2Int(x, y), worldPoint);
if (Physics.CheckSphere(worldPoint, fNodeRadius, WallMask))
{
tile.setWeight(int.MaxValue);
}
NodeArray[x, y] = tile;//Create a new node in the array.
}
}
}
