internal void AssertEdgesPresentAndPassable(List <Point> path)
{
var vs = VisGraph.FindVertex(path[0]);
Debug.Assert(vs != null);
var vt = VisGraph.FindVertex(path[path.Count - 2]);
Debug.Assert(vt != null);
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = true;
var router = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(_visGraph, vs, vt)
{
LengthMultiplier = 0.8,
LengthMultiplierForAStar = 0.0
};
List <VisibilityEdge> pathEdges = new List <VisibilityEdge>();
for (int i = 0; i < path.Count - 1; i++)
{
var edge = FindEdge(path[i], path[i + 1]);
Debug.Assert(edge != null);
pathEdges.Add(edge);
}
router.AssertEdgesPassable(pathEdges);
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
}
internal List <Point> GetPath(VisibilityVertex vs, VisibilityVertex vt,
bool shrinkDistances, Tiling g)
{
var pathPoints = new List <Point>();
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = true;
_visGraph.ClearPrevEdgesTable();
var router = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(_visGraph, vs, vt, g)
{
LengthMultiplier = 0.8,
LengthMultiplierForAStar = 0.3
};
var vpath = router.GetPath(shrinkDistances);
if (vpath == null)
{
Console.WriteLine("seeing a null path");
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
return(pathPoints);
}
var path = vpath.ToList();
for (int i = 0; i < path.Count(); i++)
{
pathPoints.Add(path[i].Point);
}
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
return(pathPoints);
}
Polyline GetShortestPolyline()
{
var pathCalc = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(_visGraph, this.sourceVisibilityVertex,
TargetVisibilityVertex);
var path = pathCalc.GetPath(false);
var ret = new Polyline();
foreach (var v in path)
{
ret.AddPoint(v.Point);
}
return(RemoveCollinearPoint(ret));
}