ID/Assets/Code/UI/Lab6Controller.cs

using System.Collections.Generic;
using Code.Base;
using Code.Lab6;
using TMPro;
using UnityEngine;
using UnityEngine.SceneManagement;
using UnityEngine.UI;

namespace Code.UI
{
    public class Lab6Controller : MonoBehaviour
    {
        public bool isDop;
        public Graph graph;
        public Agent agent;
        public Transform targetMarker;
        
        public Button toMenuButton;
        public Button resetButton;
        public Button findPathButton;
        public Button dfsButton;
        public Button bfsButton;
        public Button stopButton;
        
        public LineRenderer pathLine;
        public Color pathColor = Color.green;
        public TextMeshProUGUI statusText;

        private List<Vertex> _currentPath;
        private VertexPathFollower _pathFollower;
        private bool _useBfs = true;

        private void Awake()
        {
            if (toMenuButton != null)
                toMenuButton.onClick.AddListener(LoadMainMenu);
            if (resetButton != null)
                resetButton.onClick.AddListener(ResetScene);
            if (findPathButton != null)
                findPathButton.onClick.AddListener(FindPathToTarget);
            if (dfsButton != null)
                dfsButton.onClick.AddListener(() => SetAlgorithm(false));
            if (bfsButton != null)
                bfsButton.onClick.AddListener(() => SetAlgorithm(true));
            if (stopButton != null)
                stopButton.onClick.AddListener(StopAgent);

            _pathFollower = agent?.GetComponent<VertexPathFollower>();
            if (_pathFollower == null && agent != null)
            {
                _pathFollower = agent.gameObject.AddComponent<VertexPathFollower>();
            }
            
            if (pathLine != null)
            {
                pathLine.startColor = pathColor;
                pathLine.endColor = pathColor;
                pathLine.startWidth = 0.2f;
                pathLine.endWidth = 0.2f;
            }
            
            _currentPath = new List<Vertex>();
        }

        private void Start()
        {
            if (graph == null)
                graph = FindFirstObjectByType<Graph>();
        
            if (agent == null)
                agent = FindFirstObjectByType<Agent>();
        
            if (targetMarker == null)
            {
                var marker = GameObject.CreatePrimitive(PrimitiveType.Sphere);
                marker.name = "Target Marker";
                marker.transform.position = new Vector3(5, 0.5f, 5);
                marker.transform.localScale = new Vector3(0.5f, 0.5f, 0.5f);
        
                var renderer1 = marker.GetComponent<Renderer>();
                renderer1.material.color = Color.red;

                Destroy(marker.GetComponent<Collider>());
        
                targetMarker = marker.transform;
            }

            if (agent == null) return;
            
            var pos = agent.transform.position;
            pos.y = 0.5f;
            agent.transform.position = pos;
        }

        private void Update()
        {
            if (Input.GetMouseButtonDown(1))
            {
                if (Camera.main != null)
                {
                    var ray = Camera.main.ScreenPointToRay(Input.mousePosition);
                    RaycastHit hit;
                
                    if (Physics.Raycast(ray, out hit))
                    {
                        var targetPos = hit.point;
                        targetPos.y = 0.5f;
                        targetMarker.position = targetPos;
                        FindPathToTarget();
                    }
                }
            }
            
            DrawPath();
            UpdateStatusText();
        }

        private void UpdateStatusText()
        {
            if (!statusText) return;
            
            var status = $"Algorithm: {(_useBfs ? "BFS" : "DFS")}\n";
            
            if (_pathFollower && _pathFollower.IsFollowing())
            {
                status += $"Status: Moving to waypoint {_pathFollower.GetRemainingWaypoints()}/{_currentPath.Count}\n";
                var currentTarget = _pathFollower.GetCurrentTarget();
                if (currentTarget)
                {
                    status += $"Target pos: {currentTarget.transform.position}\n";
                }
            }
            else
            {
                status += "Status: Idle\n";
            }
            
            status += $"Path nodes: {_currentPath.Count}";
            
            statusText.text = status;
        }

        public void SetAlgorithm(bool useBfs)
        {
            _useBfs = useBfs;
            Debug.Log(useBfs ? "Using BFS algorithm" : "Using DFS algorithm");

            if (targetMarker != null)
            {
                FindPathToTarget();
            }
        }

        public void StopAgent()
        {
            if (_pathFollower != null)
            {
                _pathFollower.StopFollowing();
            }
            _currentPath.Clear();
        }

        public void FindPathToTarget()
        {
            if (!graph || !agent || !targetMarker)
            {
                Debug.LogError("Missing references!");
                return;
            }
            
            var targetPos = targetMarker.position;
            targetPos.y = 0.5f;
            targetMarker.position = targetPos;

            List<Vertex> path;
            
            if (!isDop)
                path = _useBfs
                    ? graph.GetPathBfs(agent.gameObject, targetMarker.gameObject)
                    : graph.GetPathDfs(agent.gameObject, targetMarker.gameObject);
            else
                path = graph.GetPathWeights(agent.gameObject, targetMarker.gameObject);
            
            if (path is { Count: > 0 })
            {
                _currentPath = path;
                Debug.Log($"Path found! Length: {path.Count} nodes");

                if (_pathFollower)
                {
                    _pathFollower.SetPath(path);
                }
            }
            else
            {
                Debug.LogWarning("No path found!");
                _currentPath.Clear();
                if (_pathFollower)
                {
                    _pathFollower.StopFollowing();
                }
            }
        }

        private void DrawPath()
        {
            if (!pathLine || _currentPath == null || _currentPath.Count < 2)
            {
                if (pathLine)
                    pathLine.positionCount = 0;
                return;
            }
            
            pathLine.positionCount = _currentPath.Count;
            
            for (var i = 0; i < _currentPath.Count; i++)
            {
                if (!_currentPath[i]) continue;
                
                var pos = _currentPath[i].transform.position;
                pos.y += 0.2f;
                pathLine.SetPosition(i, pos);
            }
        }

        private static void ResetScene()
        {
            SceneManager.LoadScene(SceneManager.GetActiveScene().name);
        }

        private static void LoadMainMenu()
        {
            SceneManager.LoadScene("MainMenu");
        }

        private void OnDestroy()
        {
            if (toMenuButton != null)
                toMenuButton.onClick.RemoveListener(LoadMainMenu);
            if (resetButton != null)
                resetButton.onClick.RemoveListener(ResetScene);
            if (findPathButton != null)
                findPathButton.onClick.RemoveListener(FindPathToTarget);
            if (dfsButton != null)
                dfsButton.onClick.RemoveAllListeners();
            if (bfsButton != null)
                bfsButton.onClick.RemoveAllListeners();
            if (stopButton != null)
                stopButton.onClick.RemoveListener(StopAgent);
        }
    }
}