internal static void Search(GridGraph graph, GridSearch search, int x, int y, float[,] weights, IComparer <GridEdge> comparer)
{
search.Clear();
int width = graph.Width;
int height = graph.Height;
search.IsVisited[x, y] = true;
search.Order.Add(new Vector2i(x, y));
search.Parent[x, y] = new Vector2i(x, y);
PriorityQueue <GridEdge> queue = new PriorityQueue <GridEdge>(comparer);
List <GridEdge> edges = new List <GridEdge>(8);
graph.GetEdges(x, y, edges, weights);
if (edges.Count != 0)
{
foreach (GridEdge edge in edges)
{
queue.Push(edge);
}
edges.Clear();
}
while (queue.Count != 0)
{
GridEdge edge = queue.Pop();
Vector2i v = edge.To;
if (search.IsVisited[v.x, v.y])
{
continue;
}
search.Order.Add(v);
search.IsVisited[v.x, v.y] = true;
search.Parent[v.x, v.y] = edge.From;
if (graph.Edges[v.x, v.y] == 0)
{
continue;
}
graph.GetEdges(v.x, v.y, edges, weights);
foreach (GridEdge e in edges)
{
if (search.IsVisited[e.To.x, e.To.y])
{
continue;
}
queue.Push(e);
}
edges.Clear();
}
}
internal static void Search(GridGraph graph, GridSearch search, int x, int y)
{
search.Clear();
int width = graph.Width;
int height = graph.Height;
Queue <Vector2i> queue = new Queue <Vector2i>();
queue.Enqueue(new Vector2i(x, y));
search.Parent[x, y] = new Vector2i(x, y);
search.IsVisited[x, y] = true;
while (queue.Count != 0)
{
Vector2i u = queue.Dequeue();
search.Order.Add(u);
int edge = graph.Edges[u.x, u.y];
for (int i = 0; i < 8; i++)
{
int xi = u.x + D8.OFFSETS[i, 0];
int yi = u.y + D8.OFFSETS[i, 1];
if (xi < 0 || xi > width - 1)
{
continue;
}
if (yi < 0 || yi > height - 1)
{
continue;
}
if ((edge & 1 << i) == 0)
{
continue;
}
if (search.IsVisited[xi, yi])
{
continue;
}
queue.Enqueue(new Vector2i(xi, yi));
search.IsVisited[xi, yi] = true;
search.Parent[xi, yi] = u;
}
}
}
internal static void Search(GridGraph graph, GridSearch search, Vector2i start, Vector2i target)
{
search.Clear();
int width = graph.Width;
int height = graph.Height;
search.Parent[start.x, start.y] = start;
var open = new List <Node>();
open.Add(new Node(start.x, start.y));
int g = 0;
while (open.Count > 0)
{
var lowest = open.Min(n => n.f);
var u = open.First(n => n.f == lowest);
open.Remove(u);
search.IsVisited[u.x, u.y] = true;
if (search.IsVisited[target.x, target.y])
{
break;
}
int edge = graph.Edges[u.x, u.y];
g++;
for (int i = 0; i < 8; i++)
{
int xi = u.x + D8.OFFSETS[i, 0];
int yi = u.y + D8.OFFSETS[i, 1];
if (xi < 0 || xi > width - 1)
{
continue;
}
if (yi < 0 || yi > height - 1)
{
continue;
}
if ((edge & 1 << i) == 0)
{
continue;
}
if (search.IsVisited[xi, yi])
{
continue;
}
int idx = Contains(xi, yi, open);
if (idx == -1)
{
var n = new Node(xi, yi);
n.g = g;
n.h = Distance(target.x, target.y, xi, yi);
n.f = n.g + n.h;
search.Parent[n.x, n.y] = new Vector2i(u.x, u.y);
open.Add(n);
}
else
{
var n = open[idx];
if (g + n.h < n.f)
{
n.g = g;
n.f = n.g + n.h;
search.Parent[n.x, n.y] = new Vector2i(u.x, u.y);
open[idx] = n;
}
}
}
}
}