From ab9c963d877fa449942a2119f0d41a059228f984 Mon Sep 17 00:00:00 2001
From: S3JER <72788875+S3JER@users.noreply.github.com>
Date: Fri, 8 Nov 2024 10:36:54 +0100
Subject: [PATCH] Handle if vertices have not been visited

Co-Authored-By: Puvikaran Santhirasegaram <74664443+Puvikaran2001@users.noreply.github.com>
---
 Assets/Scripts/GlobalSettings.cs                  | 2 +-
 Assets/Scripts/Map/Vertex.cs                      | 2 ++
 Assets/Scripts/Statistics/PatrollingVisualizer.cs | 1 +
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/Assets/Scripts/GlobalSettings.cs b/Assets/Scripts/GlobalSettings.cs
index 77e59991..fea9b619 100644
--- a/Assets/Scripts/GlobalSettings.cs
+++ b/Assets/Scripts/GlobalSettings.cs
@@ -60,7 +60,7 @@ public static class GlobalSettings {
 
         public static readonly int TicksBeforeExplorationHeatMapCold = 10 * 60 * 4;
         public static readonly int TicksBeforeCoverageHeatMapCold = 10 * 60 * 4;
-        public static readonly int TicksBeforeWaypointCoverageHeatMapCold = 10 * 60 * 4;
+        public static readonly int TicksBeforeWaypointCoverageHeatMapCold = 10 * 60 * 6;
 
         public static bool IsRosMode = false;
 
diff --git a/Assets/Scripts/Map/Vertex.cs b/Assets/Scripts/Map/Vertex.cs
index 1e4a6c40..a36c53ed 100644
--- a/Assets/Scripts/Map/Vertex.cs
+++ b/Assets/Scripts/Map/Vertex.cs
@@ -13,6 +13,7 @@ public class Vertex : ICloneable
         public int LastTimeVisitedTick { get; private set; } = 0;
         public Vector2Int Position { get; }
         public Color Color { get; set;}
+        public int NumberOfVisits { get; private set; } = 0;
 
         public Vertex(float weight, Vector2Int position, Color? color = null)
         {
@@ -26,6 +27,7 @@ public Vertex(float weight, Vector2Int position, Color? color = null)
         public void VisitedAtTick(int tick)
         {
             LastTimeVisitedTick = tick;
+            NumberOfVisits++;
         }
 
         public void AddNeighbor(Vertex neighbor){
diff --git a/Assets/Scripts/Statistics/PatrollingVisualizer.cs b/Assets/Scripts/Statistics/PatrollingVisualizer.cs
index e6165c22..ec7d5817 100644
--- a/Assets/Scripts/Statistics/PatrollingVisualizer.cs
+++ b/Assets/Scripts/Statistics/PatrollingVisualizer.cs
@@ -60,6 +60,7 @@ public void ShowWaypointHeatMap(int currentTick){
 
             foreach (var vertex in _patrollingMap.Verticies)
             {
+                if(vertex.NumberOfVisits == 0) continue;
                 var ticksSinceLastExplored = currentTick - vertex.LastTimeVisitedTick;
                 float coldness = Mathf.Min((float) ticksSinceLastExplored / (float) GlobalSettings.TicksBeforeWaypointCoverageHeatMapCold, 1.0f);
                 var color = Color32.Lerp(ExplorationVisualizer.WarmColor, ExplorationVisualizer.ColdColor, coldness);