lab6
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using System;
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using System.Collections.Generic;
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using System.IO;
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using UnityEngine;
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namespace Code.Lab6
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{
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public class GraphGrid : Graph
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{
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public GameObject obstaclePrefab;
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public string mapName = "arena.map";
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public bool get8Vicinity = false;
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public float cellSize = 1f;
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[Range(0, Mathf.Infinity)]
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public float defaultCost = 1f;
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private const string MapsDir = "Resources/Maps";
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private int _numCols;
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private int _numRows;
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private GameObject[] _vertexObj;
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private bool[,] _mapVertices;
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private Dictionary<int, int> _gridIdToVertexIndex;
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private int GridToId(int x, int y)
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{
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return _numCols * y + x;
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}
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private Vector2Int IdToGrid(int id)
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{
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return new Vector2Int(id % _numCols, id / _numCols);
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}
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private void LoadMap(string filename)
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{
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var path = Application.dataPath + "/" + MapsDir + "/" + filename;
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try
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{
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var strmRdr = new StreamReader(path);
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using (strmRdr)
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{
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strmRdr.ReadLine();
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var line = strmRdr.ReadLine();
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if (line != null && line.StartsWith("height"))
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{
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_numRows = int.Parse(line.Split(' ')[1]);
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}
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else
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{
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Debug.LogError("Invalid map format: height line not found");
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return;
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}
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line = strmRdr.ReadLine();
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if (line != null && line.StartsWith("width"))
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{
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_numCols = int.Parse(line.Split(' ')[1]);
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}
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else
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{
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Debug.LogError("Invalid map format: width line not found");
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return;
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}
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strmRdr.ReadLine();
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var totalCells = _numRows * _numCols;
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Vertices = new List<Vertex>();
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Neighbours = new List<List<Vertex>>();
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Costs = new List<List<float>>();
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_vertexObj = new GameObject[totalCells];
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_mapVertices = new bool[_numRows, _numCols];
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_gridIdToVertexIndex = new Dictionary<int, int>();
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Debug.Log($"Loading map {_numRows}x{_numCols} (total cells: {totalCells})");
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for (var row = 0; row < _numRows; row++)
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{
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line = strmRdr.ReadLine();
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if (string.IsNullOrEmpty(line) || line.Length < _numCols)
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{
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Debug.LogError($"Map line {row} is too short or missing");
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continue;
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}
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for (var col = 0; col < _numCols; col++)
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{
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var cellChar = line[col];
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var isGround = (cellChar == '.' || cellChar == 'G' || cellChar == ' ');
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_mapVertices[row, col] = isGround;
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var position = new Vector3(col * cellSize, 0f, row * cellSize);
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var gridId = GridToId(col, row);
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GameObject obj;
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if (isGround && vertexPrefab != null)
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{
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obj = Instantiate(vertexPrefab, position, Quaternion.identity);
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}
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else if (!isGround && obstaclePrefab != null)
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{
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obj = Instantiate(obstaclePrefab, position, Quaternion.identity);
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}
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else
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{
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obj = GameObject.CreatePrimitive(PrimitiveType.Cube);
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obj.transform.position = position;
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var renderer1 = obj.GetComponent<Renderer>();
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if (renderer1 != null)
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{
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renderer1.material.color = isGround ? Color.green : Color.red;
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}
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}
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if (obj == null) continue;
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obj.name = $"{(isGround ? "Ground" : "Obstacle")}_{gridId}";
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obj.transform.parent = transform;
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var scale = obj.transform.localScale;
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scale.x = cellSize;
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scale.z = cellSize;
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scale.y = isGround ? 0.1f : 1f;
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obj.transform.localScale = scale;
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_vertexObj[gridId] = obj;
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if (!isGround) continue;
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var v = obj.GetComponent<Vertex>();
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if (v == null)
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v = obj.AddComponent<Vertex>();
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v.id = gridId;
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v.neighbours = new List<Edge>();
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var vertexIndex = Vertices.Count;
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Vertices.Add(v);
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Neighbours.Add(new List<Vertex>());
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Costs.Add(new List<float>());
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_gridIdToVertexIndex[gridId] = vertexIndex;
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}
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}
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Debug.Log($"Created {Vertices.Count} walkable vertices");
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foreach (var kvp in _gridIdToVertexIndex)
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{
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var gridId = kvp.Key;
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var vertexIndex = kvp.Value;
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var gridPos = IdToGrid(gridId);
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SetNeighbours(gridPos.x, gridPos.y, vertexIndex);
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}
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Debug.Log($"Map loaded successfully. {Vertices.Count} walkable vertices");
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}
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}
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catch (Exception e)
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{
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Debug.LogError($"Failed to load map: {e.Message}");
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Debug.LogException(e);
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}
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}
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protected void SetNeighbours(int x, int y, int vertexIndex)
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{
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var currentVertex = Vertices[vertexIndex];
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var gridId = currentVertex.id;
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Neighbours[vertexIndex].Clear();
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Costs[vertexIndex].Clear();
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currentVertex.neighbours.Clear();
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Vector2Int[] directions;
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if (get8Vicinity)
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{
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directions = new[]
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{
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new Vector2Int(x, y - 1), new Vector2Int(x + 1, y - 1), new Vector2Int(x + 1, y), new Vector2Int(x + 1, y + 1), new Vector2Int(x, y + 1), new Vector2Int(x - 1, y + 1), new Vector2Int(x - 1, y), new Vector2Int(x - 1, y - 1)
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};
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}
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else
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{
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directions = new[]
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{
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new Vector2Int(x, y - 1), new Vector2Int(x + 1, y), new Vector2Int(x, y + 1), new Vector2Int(x - 1, y)
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};
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}
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var diagonalCost = defaultCost * 1.4f;
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foreach (var dir in directions)
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{
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if (dir.x < 0 || dir.x >= _numCols || dir.y < 0 || dir.y >= _numRows)
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continue;
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if (!_mapVertices[dir.y, dir.x])
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continue;
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var neighbourGridId = GridToId(dir.x, dir.y);
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if (!_gridIdToVertexIndex.TryGetValue(neighbourGridId, out var neighbourIndex))
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continue;
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var neighbourVertex = Vertices[neighbourIndex];
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var cost = defaultCost;
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if (dir.x != x && dir.y != y)
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{
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cost = diagonalCost;
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}
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Neighbours[vertexIndex].Add(neighbourVertex);
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Costs[vertexIndex].Add(cost);
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currentVertex.neighbours.Add(new Edge(neighbourVertex, cost));
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}
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}
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public override void Load()
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{
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LoadMap(mapName);
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}
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public override Vertex GetNearestVertex(Vector3 position)
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{
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var col = Mathf.RoundToInt(position.x / cellSize);
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var row = Mathf.RoundToInt(position.z / cellSize);
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col = Mathf.Clamp(col, 0, _numCols - 1);
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row = Mathf.Clamp(row, 0, _numRows - 1);
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if (!_mapVertices[row, col])
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{
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return FindNearestWalkable(col, row);
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}
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var gridId = GridToId(col, row);
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return _gridIdToVertexIndex.TryGetValue(gridId, out var vertexIndex) ? Vertices[vertexIndex] : null;
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}
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private Vertex FindNearestWalkable(int startCol, int startRow)
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{
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var queue = new Queue<Vector2Int>();
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var explored = new HashSet<Vector2Int>();
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queue.Enqueue(new Vector2Int(startCol, startRow));
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explored.Add(new Vector2Int(startCol, startRow));
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const int maxSearchRadius = 20;
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var steps = 0;
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while (queue.Count > 0 && steps < maxSearchRadius * maxSearchRadius)
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{
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var pos = queue.Dequeue();
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if (_mapVertices[pos.y, pos.x])
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{
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var gridId = GridToId(pos.x, pos.y);
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if (_gridIdToVertexIndex.TryGetValue(gridId, out var vertexIndex))
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{
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return Vertices[vertexIndex];
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}
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}
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var neighbours = new[]
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{
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new Vector2Int(pos.x, pos.y - 1),
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new Vector2Int(pos.x + 1, pos.y),
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new Vector2Int(pos.x, pos.y + 1),
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new Vector2Int(pos.x - 1, pos.y)
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};
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foreach (var n in neighbours)
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{
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if (n.x < 0 || n.x >= _numCols || n.y < 0 || n.y >= _numRows || !explored.Add(n)) continue;
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queue.Enqueue(n);
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}
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steps++;
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}
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Debug.LogWarning($"No walkable vertex found near ({startCol}, {startRow})");
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return Vertices.Count > 0 ? Vertices[0] : null;
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}
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public override Vertex[] GetNeighbours(Vertex v)
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{
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if (!v || Vertices == null || Neighbours == null || !_gridIdToVertexIndex.TryGetValue(v.id, out var vertexIndex) || vertexIndex < 0 || vertexIndex >= Neighbours.Count || Neighbours[vertexIndex] == null)
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return Array.Empty<Vertex>();
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return Neighbours[vertexIndex].ToArray();
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}
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public override Edge[] GetEdges(Vertex v)
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{
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if (!v || v.neighbours == null)
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return Array.Empty<Edge>();
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return v.neighbours.ToArray();
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}
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public override Vertex GetVertexObj(int id)
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{
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if (!_gridIdToVertexIndex.TryGetValue(id, out var vertexIndex)) return null;
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if (vertexIndex >= 0 && vertexIndex < Vertices.Count)
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return Vertices[vertexIndex];
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return null;
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}
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}
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}
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