/// <summary>
/// 恢复寻路新增节点导致的变化
/// </summary>
private void RestoreNodeBackup(HierarchicalMap map, int nodeId, NodeBackup backup)
{
AbstractGraph graph = map.AbstractGraph;
AbstractNode node = graph.GetNode(nodeId);
//恢复节点的级别
node.Level = backup.Level;
//恢复相关的边
graph.RemoveEdgeFromAndToNode(nodeId);
foreach (var edge in backup.Edges)
{
int targetNodeId = edge.TargetNodeId;
var targetNode = map.GetAbstractNode(targetNodeId);
AbstractEdge abstractEdge = HPADemo.Instance.CreateEdge(node.Pos, targetNode.Pos, edge.Level, edge.IsInterEdge);
abstractEdge.Init(targetNodeId, edge.Cost, edge.Level, edge.IsInterEdge);
abstractEdge.SetInnerLowerLevelPath(edge.InnerLowerLevelPath);
graph.AddEdge(nodeId, abstractEdge);
edge.InnerLowerLevelPath?.Reverse();
abstractEdge = HPADemo.Instance.CreateEdge(targetNode.Pos, node.Pos, edge.Level, edge.IsInterEdge);
abstractEdge.Init(nodeId, edge.Cost, edge.Level, edge.IsInterEdge);
abstractEdge.SetInnerLowerLevelPath(edge.InnerLowerLevelPath);
graph.AddEdge(targetNodeId, abstractEdge);
}
m_backupDict.Remove(nodeId);
}
/// <summary>
/// 构建指定层级节点间的边
/// </summary>
private void AddEdgesBetweenAbstractNodes(int absId1, int absId2, int level)
{
var node1 = AbstractGraph.GetNode(absId1);
var node2 = AbstractGraph.GetNode(absId2);
var planner = new PathPlanner(this, null);
var path = planner.Search(node1, node2);
if (path != null && path.Nodes.Count > 0)
{
AbstractEdge edge = HPADemo.Instance.CreateEdge(node1.Pos, node2.Pos, level, false);
edge.Init(absId2, path.Cost, level, false);
edge.SetInnerLowerLevelPath(path.Nodes);
AbstractGraph.AddEdge(absId1, edge);
path.Nodes.Reverse();
edge = HPADemo.Instance.CreateEdge(node2.Pos, node1.Pos, level, false);
edge.Init(absId1, path.Cost, level, false);
edge.SetInnerLowerLevelPath(path.Nodes);
AbstractGraph.AddEdge(absId2, edge);
}
}