Merge pull request 'a_star' (#5) from a_star into master

Reviewed-on: #5

Assets/Graphics/Materials/NodeExplored_Mat.mat

@@ -0,0 +1,78 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!21 &2100000
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+  m_ObjectHideFlags: 0
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+  m_PrefabInstance: {fileID: 0}
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Assets/Graphics/Materials/NodeExplored_Mat.mat.meta

@@ -1,7 +1,8 @@
 fileFormatVersion: 2
-guid: 97b32b60b07a2ca4296022d84adbb3a4
-PrefabImporter:
+guid: 9ac24eaf07a787147878b53b3ef377bc
+NativeFormatImporter:
   externalObjects: {}
+  mainObjectFileID: 2100000
   userData: 
   assetBundleName: 
   assetBundleVariant: 

Assets/Graphics/Materials/Node_mat.mat

@@ -7,7 +7,7 @@ Material:
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_Name: Node_mat
+  m_Name: Node_Mat
   m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
   m_ShaderKeywords: 
   m_LightmapFlags: 4

Assets/Logic/Agent/FringeNode.cs

@@ -0,0 +1,34 @@
+using Logic.Utils;
+
+namespace Logic.Agent
+{
+    public class FringeNode: IHeapItem<FringeNode>
+    {
+        public readonly State State;
+        public FringeNode Parent;
+        public AgentAction Action;
+        public float HCost;
+        public float GCost;
+        public int HeapIndex { get; set; }
+
+
+        public FringeNode(State state)
+        {
+            State = state;
+        }
+
+        public float FCost => GCost + HCost;
+
+
+        public int CompareTo(FringeNode other)
+        {
+            int compare = FCost.CompareTo(other.FCost);
+            if (compare == 0)
+            {
+                compare = HCost.CompareTo(other.HCost);
+            }
+
+            return -compare;
+        }
+    }
+}

Assets/Logic/Agent/FringeNodeHeap.cs

@@ -0,0 +1,31 @@
+using Logic.Utils;
+
+namespace Logic.Agent
+{
+    public class FringeNodeHeap: Heap<FringeNode>
+    {
+        public FringeNodeHeap(int maxHeapSize) : base(maxHeapSize) { }
+        
+        public bool Contains(FringeNode item)
+        {
+            foreach (FringeNode fringeNode in Items)
+            {
+                if (fringeNode != null && fringeNode.State.Equals(item.State))
+                    return true;
+            }
+
+            return false;
+        }
+        
+        public FringeNode GetItem(FringeNode item)
+        {
+            foreach (FringeNode fringeNode in Items)
+            {
+                if (fringeNode != null && fringeNode.State.Equals(item.State))
+                    return fringeNode;
+            }
+
+            return null;
+        }
+    }
+}

Assets/Logic/Agent/FringeNodeHeap.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 34a52f0a39ad4d9faf3238d9cd5dd6bc
+timeCreated: 1619354659

Assets/Logic/Agent/FringeNodes.cs

@@ -1,20 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using Logic.Agent;
-
-namespace Assets.Logic.Agent
-{
-    public class FringeNodes
-    {
-        public FringeNodes(State state)
-        {
-            State = state;
-        }
-        public State State;
-        public FringeNodes Parent;
-        public AgentAction Action;
-    }
-}

Assets/Logic/Agent/PathFinder.cs

@@ -1,7 +1,6 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
-using Assets.Logic.Agent;
 using Logic.Graph;
 using UnityEngine;
 
@@ -9,10 +8,81 @@ namespace Logic.Agent
 {
     public class PathFinder : MonoBehaviour
     {
-        public Stack<AgentAction> GraphSearch(Queue<FringeNodes> fringe, HashSet<FringeNodes> explored, State iState, State goalState)
+        
+        public Stack<AgentAction> GraphSearchWithCost(FringeNodeHeap fringe, HashSet<FringeNode> explored, State iState, State goalState)
         {
             Stack<AgentAction> stack = new Stack<AgentAction>();
-            fringe.Enqueue(new FringeNodes(iState));
+            fringe.Enqueue(new FringeNode(iState));
+            while (fringe.Count != 0)
+            {
+                var elem = fringe.Dequeue();
+                if (goalTest(elem.State, goalState))
+                {
+                    while (!elem.State.Equals(iState))
+                    {
+                        elem.State.AgentPosition.MarkAsPath();
+                        stack.Push(elem.Action);
+                        elem = elem.Parent;
+                    }
+                    return stack;
+                }
+
+                explored.Add(elem);
+                foreach (Tuple<State, AgentAction> successor in Succ(elem.State))
+                {
+                    var x = new FringeNode(successor.Item1)
+                    {
+                        Parent = elem,
+                        Action = successor.Item2,
+                        HCost = GetHCost(successor.Item1, goalState),
+                        GCost = GetGCost(elem.State, successor.Item1) + elem.GCost
+                    };
+
+                    if (!fringe.Contains(x) && !explored.Any(z => z.State.Equals(successor.Item1)))
+                    {
+                        fringe.Enqueue(x);
+                        x.State.AgentPosition.MarkAsExplored();
+                    }
+                    else if (fringe.Contains(x) && fringe.GetItem(x).FCost > x.FCost)
+                    {
+                        fringe.UpdateItem(x, fringe.GetItem(x).HeapIndex);
+                    }
+                }
+            }
+
+            return stack;
+        }
+
+        private float GetHCost(State state1, State state2)
+        {    
+            var state1Pos = state1.AgentPosition.transform.position;
+            var state2Pos = state2.AgentPosition.transform.position;
+            
+            float distX = Mathf.Abs(state1Pos.x - state2Pos.x);
+            float distY = Mathf.Abs(state1Pos.z - state2Pos.z);
+
+            return distX + distY;
+        }
+
+        private float GetGCost(State state1, State state2)
+        {
+            float cost = 0;
+            if (state1.AgentRotation != state2.AgentRotation)
+            {
+                cost += SceneContext.Instance.rotationCost;
+            }
+            else if (state1.AgentPosition != state2.AgentPosition)
+            {
+                cost += state2.AgentPosition.GETNodeCost();
+            }
+            
+            return cost;
+        }
+
+        public Stack<AgentAction> GraphSearch(Queue<FringeNode> fringe, HashSet<FringeNode> explored, State iState, State goalState)
+        {
+            Stack<AgentAction> stack = new Stack<AgentAction>();
+            fringe.Enqueue(new FringeNode(iState));
             while (fringe.Count != 0)
             {
                 var elem = fringe.Dequeue();
@@ -34,8 +104,13 @@ namespace Logic.Agent
                     if (fringe.Any(z =>
                         z.State.Equals(successor.Item1)) || explored.Any(z => z.State.Equals(successor.Item1)))
                         continue;
-                    var x = new FringeNodes(successor.Item1) {Parent = elem, Action = successor.Item2};
+                    var x = new FringeNode(successor.Item1)
+                    {
+                        Parent = elem, 
+                        Action = successor.Item2
+                    };
                     fringe.Enqueue(x);
+                    x.State.AgentPosition.MarkAsExplored();
                 }
 
             }

Assets/Logic/Agent/State.cs

@@ -1,7 +1,6 @@
 using Logic.Graph;
-using System;
 
-namespace Assets.Logic.Agent
+namespace Logic.Agent
 {
     public enum Rotation
     {
@@ -19,7 +18,32 @@ namespace Assets.Logic.Agent
         {
             if (obj == null) return false;
             var state = (State) obj;
+
+            if (state.AgentPosition is Table)
+            {
+                return AgentPosition == state.AgentPosition &&
+                       (AgentRotation == GETOppositeRotation(state.AgentRotation) ||
+                        AgentRotation == state.AgentRotation);
+            }
+            
             return AgentPosition == state.AgentPosition && AgentRotation == state.AgentRotation;
         }
+
+        private Rotation GETOppositeRotation(Rotation rotation)
+        {
+            switch (rotation)
+            {
+                case Rotation.Bottom:
+                    return Rotation.Top;
+                case Rotation.Top:
+                    return Rotation.Bottom;
+                case Rotation.Left:
+                    return Rotation.Right;
+                case Rotation.Right:
+                    return Rotation.Left;
+            }
+
+            return Rotation.Top;
+        }
     }
 }

Assets/Logic/Agent/Waitress.cs

@@ -2,8 +2,8 @@ using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.Diagnostics;
-using Assets.Logic.Agent;
 using Logic.Graph;
+using Logic.Utils;
 using UnityEngine;
 using Debug = UnityEngine.Debug;
 
@@ -17,11 +17,9 @@ namespace Logic.Agent
     }
     public class Waitress : MonoBehaviour
     {
-        //[SerializeField] private Node currentNode;
-        public Node StartNode;
+        public Node startNode;
         [SerializeField] private bool isFollowingPath;
         [SerializeField] private bool canMove = true;
-        //private Node _previousNode;
         private State _currentState;
         private State _previousState;
         private PathFinder _pathFinder;
@@ -29,12 +27,8 @@ namespace Logic.Agent
         void Awake()
         {
             _pathFinder = GetComponent<PathFinder>();
-            _currentState = new State();
-            _currentState.AgentPosition = StartNode;
-            _currentState.AgentRotation = Rotation.Top;
-            _previousState = new State();
-            _previousState.AgentPosition = StartNode;
-            _previousState.AgentRotation = Rotation.Top;
+            _currentState = new State {AgentPosition = startNode, AgentRotation = Rotation.Top};
+            _previousState = new State {AgentPosition = startNode, AgentRotation = Rotation.Top};
         }
         
         void Update()
@@ -74,12 +68,30 @@ namespace Logic.Agent
             goalState.AgentPosition = table;
             goalState.AgentRotation = Rotation.Right;
 
-            Stack<AgentAction> actions = _pathFinder.GraphSearch(new Queue<FringeNodes>(), new HashSet<FringeNodes>(),
-                _currentState, goalState);
+            Stack<AgentAction> actions;
+            if (SceneContext.Instance.useAStar)
+            {
+                var priorityQueue = new FringeNodeHeap(SceneContext.Instance.map.Count * 3);
+                actions = _pathFinder.GraphSearchWithCost(priorityQueue, new HashSet<FringeNode>(), _currentState, goalState);
+            }
+            else
+            {
+                actions = _pathFinder.GraphSearch(new Queue<FringeNode>(), new HashSet<FringeNode>(), _currentState, goalState);
+            }
+            
             if (actions.Count > 0)
             {
                 StartCoroutine(ExecuteActions(actions));
             }
+            
+        }
+
+        private void ClearMap()
+        {
+            foreach (Node node in SceneContext.Instance.map)
+            {
+                node.ClearPathMark();
+            }
         }
 
         private IEnumerator ExecuteActions(Stack<AgentAction> actions)
@@ -118,18 +130,16 @@ namespace Logic.Agent
                                         : Rotation.Left;
                             break;
                         case AgentAction.GoForward:
-                            StartCoroutine(
-                                RunToAnotherNode(_currentState.AgentPosition.FindNode(_currentState.AgentRotation)));
-                            
+                            StartCoroutine(RunToAnotherNode(_currentState.AgentPosition.FindNode(_currentState.AgentRotation)));
                             break;
                     }
-                    //node.Item2?.Invoke();
                 }
                 
                 yield return new WaitForEndOfFrame();
             }
             
             isFollowingPath = false;
+            ClearMap();
         }
 
         private IEnumerator RotateLeft()
@@ -160,7 +170,7 @@ namespace Logic.Agent
             float i = 0;
             while (i <= 1)
             {
-                Debug.Log(i);
+                // Debug.Log(i);
                 transform.rotation = Quaternion.Slerp(startRotation, targetRotation, i);
                 yield return new WaitForEndOfFrame();
                 i += Time.deltaTime*3;

Assets/Logic/Graph/Node.cs

@@ -1,7 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
-using Assets.Logic.Agent;
+using Logic.Agent;
 using Logic.Utils;
 using UnityEngine;
 
@@ -9,14 +9,20 @@ namespace Logic.Graph
 {
     public class Node : MonoBehaviour
     {
-        public Material nodeMat;
-        public Material pathMat;
         public List<Node> neighbors;
-        [SerializeField] private float maxRange = 0.5f;
+        [SerializeField] private Material nodeMat;
+        [SerializeField] private Material pathMat;
+        [SerializeField] private Material exploredMat;
         [SerializeField] private bool debug = false;
+        [SerializeField] private float movementPenalty;
 
+
+        private readonly float _maxRayRange = 0.75f;
+        private readonly float _maxTableRayRange = 0.5f;
+        private readonly float _maxSphereRange = 0.25f;
         private int _nodeLayerMask;
         private int _tableLayerMask;
+        private int _obstacleLayerMask;
         private Vector3 _position;
         private float _nodeRayMaxLength;
         private float _tableRayMaxLength;
@@ -26,20 +32,12 @@ namespace Logic.Graph
         {
             _renderer = GetComponent<Renderer>();
             InitializeNeighbours();
+            movementPenalty += SceneContext.Instance.nodeBaseCost;
         }
 
-        private void Update()
+        public float GETNodeCost()
         {
-            if (debug)
-            {
-                Debug.DrawRay(_position, Vector3.right + new Vector3(maxRange, 0, 0), Color.red);
-                Debug.DrawRay(_position, Vector3.left + new Vector3(-maxRange, 0, 0), Color.blue);
-                Debug.DrawRay(_position, Vector3.forward + new Vector3(0, 0, maxRange), Color.green);
-                Debug.DrawRay(_position, Vector3.back + new Vector3(0, 0, -maxRange), Color.magenta);
-        
-                Debug.DrawRay(_position, Vector3.right + new Vector3(_tableRayMaxLength, 0, 0), Color.cyan);
-                Debug.DrawRay(_position, Vector3.left + new Vector3(-_tableRayMaxLength, 0, 0), Color.yellow);
-            }
+            return movementPenalty;
         }
 
         public void MarkAsPath()
@@ -50,6 +48,14 @@ namespace Logic.Graph
             }
         }
 
+        public void MarkAsExplored()
+        {
+            if (!gameObject.CompareTag("Table"))
+            {
+                _renderer.material = exploredMat;
+            }
+        }
+        
         public void ClearPathMark()
         {
             if (!gameObject.CompareTag("Table"))
@@ -58,13 +64,80 @@ namespace Logic.Graph
             }
         }
 
+        public Node FindNode(Rotation agentRotation)
+        {
+            switch (agentRotation)
+            {
+                case Rotation.Left:
+                    return neighbors.FirstOrDefault(x =>
+                        x.transform.position.z.IsEq(transform.position.z) &&
+                        x.transform.position.x.IsEq(transform.position.x - 1));
+                case Rotation.Right:
+                    return neighbors.FirstOrDefault(x =>
+                        x.transform.position.z.IsEq(transform.position.z) &&
+                        x.transform.position.x.IsEq(transform.position.x + 1));
+                case Rotation.Top:
+                    return neighbors.FirstOrDefault(x =>
+                        x.transform.position.x.IsEq(transform.position.x) &&
+                        x.transform.position.z.IsEq(transform.position.z + 1));
+                case Rotation.Bottom:
+                    return neighbors.FirstOrDefault(x =>
+                        x.transform.position.x.IsEq(transform.position.x) &&
+                        x.transform.position.z.IsEq(transform.position.z - 1));
+                default:
+                    return null;
+            }
+        }
+
+        private void Update()
+        {
+            if (debug)
+            {
+                Debug.DrawRay(_position, Vector3.right + new Vector3(_maxRayRange, 0, 0), Color.red);
+                Debug.DrawRay(_position, Vector3.left + new Vector3(-_maxRayRange, 0, 0), Color.blue);
+                Debug.DrawRay(_position, Vector3.forward + new Vector3(0, 0, _maxRayRange), Color.green);
+                Debug.DrawRay(_position, Vector3.back + new Vector3(0, 0, -_maxRayRange), Color.magenta);
+                
+                Debug.DrawRay(_position, Vector3.up + new Vector3(0, _maxRayRange, 0), Color.green);
+                Debug.DrawRay(_position, Vector3.down + new Vector3(0, -_maxRayRange, 0), Color.magenta);
+        
+                Debug.DrawRay(_position, Vector3.right + new Vector3(_tableRayMaxLength, 0, 0), Color.cyan);
+                Debug.DrawRay(_position, Vector3.left + new Vector3(-_tableRayMaxLength, 0, 0), Color.yellow);
+                
+            }
+        }
+
+        private void OnDrawGizmos()
+        {
+            if (debug)
+            {
+                Gizmos.color = Color.blue;
+                Gizmos.DrawWireSphere(transform.position, _maxSphereRange);
+            }
+        }
+
         private void InitializeNeighbours()
         {
             _nodeLayerMask = LayerMask.GetMask("Node");
             _tableLayerMask = LayerMask.GetMask("Table");
+            _obstacleLayerMask = LayerMask.GetMask("Obstacle");
+            
             _position = gameObject.transform.position;
-            _nodeRayMaxLength = maxRange * 2;
-            _tableRayMaxLength = maxRange * 2 + 0.5f;
+            _nodeRayMaxLength = _maxRayRange * 2;
+            _tableRayMaxLength = _maxRayRange * 2 + 0.5f;
+
+            var colliders = Physics.OverlapSphere(transform.position, _maxSphereRange, _obstacleLayerMask);
+            var obstacleLayer = (int) Math.Log(_obstacleLayerMask, 2);
+            foreach (Collider otherCollider in colliders)
+            {
+                if (otherCollider.gameObject.layer == obstacleLayer)
+                {
+                    var obstacle = otherCollider.GetComponent<Obstacle>();
+                    var cost = obstacle.GETMovementPenaltyCost();
+                    if (cost > movementPenalty)
+                        movementPenalty = cost;
+                }
+            }
             
             if (Physics.Raycast(_position, Vector3.left, out var hitLeft, _nodeRayMaxLength, _nodeLayerMask))
             {
@@ -87,14 +160,14 @@ namespace Logic.Graph
                     neighbors.Add(nodeCollider);
             }
 
-            if (Physics.Raycast(_position, Vector3.back, out var hitBottom, maxRange * 2, _nodeLayerMask))
+            if (Physics.Raycast(_position, Vector3.back, out var hitBottom, _maxRayRange * 2, _nodeLayerMask))
             {
                 var nodeCollider = hitBottom.collider.GetComponent<Node>();
                 if (nodeCollider)
                     neighbors.Add(nodeCollider);
             }
             
-            if (Physics.Raycast(_position, Vector3.left, out var hitLeftTable, _tableRayMaxLength, _tableLayerMask))
+            if (Physics.Raycast(_position, Vector3.left, out var hitLeftTable, _maxTableRayRange, _tableLayerMask))
             {
                 var tableCollider = hitLeftTable.collider.GetComponent<CustomerTable>();
                 if (tableCollider)
@@ -104,7 +177,7 @@ namespace Logic.Graph
                     neighbors.Add(kitchenTableCollider);
             }
 
-            if (Physics.Raycast(_position, Vector3.right, out var hitRightTable, _tableRayMaxLength, _tableLayerMask))
+            if (Physics.Raycast(_position, Vector3.right, out var hitRightTable, _maxTableRayRange, _tableLayerMask))
             {
                 var tableCollider = hitRightTable.collider.GetComponent<CustomerTable>();
                 if (tableCollider)
@@ -113,31 +186,7 @@ namespace Logic.Graph
                 if (kitchenTableCollider)
                     neighbors.Add(kitchenTableCollider);
             }
-        }
             
-        public Node FindNode(Rotation agentRotation)
-        {
-            switch (agentRotation)
-            {
-                case Rotation.Left:
-                    return neighbors.FirstOrDefault(x =>
-                            x.transform.position.z.IsEq(transform.position.z) &&
-                            x.transform.position.x.IsEq(transform.position.x - 1));
-                case Rotation.Right:
-                    return neighbors.FirstOrDefault(x =>
-                        x.transform.position.z.IsEq(transform.position.z) &&
-                        x.transform.position.x.IsEq(transform.position.x + 1));
-                case Rotation.Top:
-                    return neighbors.FirstOrDefault(x =>
-                        x.transform.position.x.IsEq(transform.position.x) &&
-                        x.transform.position.z.IsEq(transform.position.z + 1.25f));
-                case Rotation.Bottom:
-                    return neighbors.FirstOrDefault(x =>
-                        x.transform.position.x.IsEq(transform.position.x) &&
-                        x.transform.position.z.IsEq(transform.position.z - 1.25f));
-                default:
-                    return null;
-            }
         }
     }
     

Assets/Logic/Graph/Obstacle.cs

@@ -0,0 +1,33 @@
+using System.Linq;
+using UnityEngine;
+
+namespace Logic.Graph
+{
+
+    public enum ObstacleType
+    {
+        Bar,
+        Water
+    }
+    
+        
+    [System.Serializable]
+    public class ObstacleData
+    {
+        public ObstacleType type;
+        public float penalty;
+    }
+    
+    public class Obstacle : MonoBehaviour
+    {
+
+        [SerializeField] private ObstacleType obstacleType;
+        
+        public float GETMovementPenaltyCost()
+        {
+            var obstacleData = SceneContext.Instance.obstacles.First(x => x.type == obstacleType);
+            return obstacleData.penalty;
+        }
+        
+    }
+}

Assets/Logic/Graph/Obstacle.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: d9978794eb6647e2972119f5cdf214d6
+timeCreated: 1619115607

Assets/Logic/SceneContext.cs

@@ -9,9 +9,13 @@ namespace Logic
     public class SceneContext : MonoBehaviour
     {
         public List<Node> map;
+        public ObstacleData[] obstacles;
+        public float nodeBaseCost;
+        public float rotationCost;
+        public bool useAStar = true;
         public static SceneContext Instance;
 
-        void Start()
+        void Awake()
         {
             Instance = this;
             Application.targetFrameRate = 144;
@@ -44,4 +48,5 @@ namespace Logic
                 DrawGizmosFrom(map.First(), new List<Node>());
         }
     }
+
 }

Assets/Logic/Utils/Heap.cs

@@ -0,0 +1,110 @@
+using System;
+
+namespace Logic.Utils
+{
+    public class Heap<T> where T : IHeapItem<T>
+    {
+        protected readonly T[] Items;
+        private int _currentItemCount;
+
+        protected Heap(int maxHeapSize)
+        {
+            Items = new T[maxHeapSize];
+        }
+
+        public void Enqueue(T item)
+        {
+            item.HeapIndex = _currentItemCount;
+            Items[_currentItemCount] = item;
+            SortUp(item);
+            _currentItemCount++;
+        }
+
+        public T Dequeue()
+        {
+            T firstItem = Items[0];
+            _currentItemCount--;
+            Items[0] = Items[_currentItemCount];
+            Items[0].HeapIndex = 0;
+            SortDown(Items[0]);
+            return firstItem;
+        }
+
+        public void UpdateItem(T item, int index)
+        {
+            item.HeapIndex = index;
+            Items[index] = item;
+            SortUp(item);
+        }
+
+        public int Count => _currentItemCount;
+
+        private void SortDown(T item)
+        {
+            while (true)
+            {
+                int childIndexLeft = item.HeapIndex * 2 + 1;
+                int childIndexRight = item.HeapIndex * 2 + 2;
+                int swapIndex = 0;
+                if (childIndexLeft < _currentItemCount)
+                {
+                    swapIndex = childIndexLeft;
+                    if (childIndexRight < _currentItemCount)
+                    {
+                        if (Items[childIndexLeft].CompareTo(Items[childIndexRight]) < 0)
+                        {
+                            swapIndex = childIndexRight;
+                        }
+                    }
+
+                    if (item.CompareTo(Items[swapIndex]) < 0)
+                    {
+                        Swap(item, Items[swapIndex]);
+                    }
+                    else
+                    {
+                        return;
+                    }
+                }
+                else
+                {
+                    return;
+                }
+            }   
+        }
+        
+        private void SortUp(T item)
+        {
+            int parentIndex = (item.HeapIndex - 1) / 2;
+            while (true)
+            {
+                T parentItem = Items[parentIndex];
+                if (item.CompareTo(parentItem) > 0)
+                {
+                    Swap(item, parentItem);
+                }
+                else
+                {
+                    break;
+                }
+                parentIndex = (item.HeapIndex - 1) / 2;
+            }
+        }
+
+        private void Swap(T itemA, T itemB)
+        {
+            Items[itemA.HeapIndex] = itemB;
+            Items[itemB.HeapIndex] = itemA;
+            int itemAIndex = itemA.HeapIndex;
+            itemA.HeapIndex = itemB.HeapIndex;
+            itemB.HeapIndex = itemAIndex;
+        }
+        
+    }
+    
+    
+    public interface IHeapItem<T> : IComparable<T>
+    {
+        int HeapIndex { get; set; }
+    }
+}

Assets/Logic/Utils/Heap.cs.meta

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+fileFormatVersion: 2
+guid: 92f8dbe7c78e4a119f67c2ce3b6a4b5f
+timeCreated: 1619189961

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ProjectSettings/TagManager.asset

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