/// <summary>
/// Removes an item from the queue. The item does not need to be the head of the queue.
/// If the item is not in the queue, an exception is thrown. If unsure, check Contains() first.
/// If multiple copies of the item are enqueued, only the first one is removed.
/// O(log n)
/// </summary>
public void Remove(TItem item)
{
lock (_queue)
{
SimpleNode removeMe;
IList <SimpleNode> nodes;
if (item == null)
{
if (_nullNodesCache.Count == 0)
{
throw new InvalidOperationException("Cannot call Remove() on a node which is not enqueued: " + item);
}
removeMe = _nullNodesCache[0];
nodes = _nullNodesCache;
}
else
{
if (!_itemToNodesCache.TryGetValue(item, out nodes))
{
throw new InvalidOperationException("Cannot call Remove() on a node which is not enqueued: " + item);
}
removeMe = nodes[0];
if (nodes.Count == 1)
{
_itemToNodesCache.Remove(item);
}
}
_queue.Remove(removeMe);
nodes.Remove(removeMe);
}
}
private void Update()
{
var adjacencyRule = (AdjacencyRule)_baseMap.DistanceMeasurement;
var openSet = new GenericPriorityQueue <PositionNode, double>(Width * Height);
foreach (var point in _baseMap.Walkable)
{
var newPoint = _baseMap[point] * -Magnitude;
_goalMap[point] = newPoint;
openSet.Enqueue(_nodes[point], newPoint.Value);
}
var edgeSet = new HashSet <Coord>();
var closedSet = new HashSet <Coord>();
while (openSet.Count > 0) //multiple runs are needed to deal with islands
{
var minNode = openSet.Dequeue();
closedSet.Add(minNode.Position);
foreach (var openPoint in adjacencyRule.Neighbors(minNode.Position))
{
if ((!closedSet.Contains(openPoint)) && _baseMap.BaseMap[openPoint] != GoalState.Obstacle)
{
edgeSet.Add(openPoint);
}
}
while (edgeSet.Count > 0)
{
foreach (var coord in edgeSet.ToArray())
{
var current = _goalMap[coord].Value;
foreach (var openPoint in adjacencyRule.Neighbors(coord))
{
if (closedSet.Contains(openPoint) || _baseMap.BaseMap[openPoint] == GoalState.Obstacle)
{
continue;
}
var neighborValue = _goalMap[openPoint].Value;
var newValue = current + _baseMap.DistanceMeasurement.Calculate(coord, openPoint);
if (newValue < neighborValue)
{
_goalMap[openPoint] = newValue;
openSet.UpdatePriority(_nodes[openPoint], newValue);
edgeSet.Add(openPoint);
}
}
edgeSet.Remove(coord);
closedSet.Add(coord);
openSet.Remove(_nodes[coord]);
}
}
}
}
/// <summary>
/// Removes an item from the queue. The item does not need to be the head of the queue.
/// If the item is not in the queue, an exception is thrown. If unsure, check Contains() first.
/// If multiple copies of the item are enqueued, only the first one is removed.
/// O(n)
/// </summary>
public void Remove(TItem item)
{
lock (_queue)
{
try
{
_queue.Remove(GetExistingNode(item));
}
catch (InvalidOperationException ex)
{
throw new InvalidOperationException("Cannot call Remove() on a node which is not enqueued: " + item, ex);
}
}
}
private void Update()
{
int width = Width;
AdjacencyRule adjacencyRule = _baseMap.DistanceMeasurement;
var mapBounds = _goalMap.Bounds();
var walkable = _baseMap.Walkable;
for (int i = 0; i < walkable.Count; i++)
{
var point = walkable[i];
// Value won't be null as null only happens for non-walkable squares
var newPoint = _baseMap[point] !.Value * -Magnitude;
_goalMap[point] = newPoint;
_openSet.Enqueue(_nodes[point], newPoint);
}
_edgeSet.Clear();
_closedSet.SetAll(false);
while (_openSet.Count > 0) // Multiple runs are needed to deal with islands
{
var minNode = _openSet.Dequeue();
_closedSet[minNode.Position.ToIndex(width)] = true;
for (int i = 0; i < adjacencyRule.DirectionsOfNeighborsCache.Length; i++)
{
var openPoint = minNode.Position + adjacencyRule.DirectionsOfNeighborsCache[i];
if (!mapBounds.Contains(openPoint))
{
continue;
}
if (!_closedSet[openPoint.ToIndex(width)] && _baseMap.BaseMap[openPoint] != GoalState.Obstacle)
{
_edgeSet.Enqueue(openPoint);
}
}
while (_edgeSet.Count > 0)
{
var point = _edgeSet.Dequeue();
var pointIndex = point.ToIndex(width);
if (!mapBounds.Contains(point) || _closedSet[pointIndex])
{
continue;
}
var current = _goalMap[point] !.Value; // Never added non-nulls so this is fine
for (int j = 0; j < adjacencyRule.DirectionsOfNeighborsCache.Length; j++)
{
var openPoint = point + adjacencyRule.DirectionsOfNeighborsCache[j];
if (!mapBounds.Contains(openPoint))
{
continue;
}
if (_closedSet[openPoint.ToIndex(width)] || _baseMap.BaseMap[openPoint] == GoalState.Obstacle)
{
continue;
}
var neighborValue = _goalMap[openPoint] !.Value; // Never added non-nulls so this is fine
var newValue = current + _baseMap.DistanceMeasurement.Calculate(point, openPoint);
if (newValue < neighborValue)
{
_goalMap[openPoint] = newValue;
_openSet.UpdatePriority(_nodes[openPoint], newValue);
_edgeSet.Enqueue(openPoint);
}
}
_closedSet[pointIndex] = true;
_openSet.Remove(_nodes[point]);
}
}
}
