private void MakeClumps()
{
// Accumulate overlapping rectangular groups and obstacles.
foreach (var group in obstacleTree.GetAllGroups().Where(group => group.IsRectangle))
{
var groupClump = new SuperClump();
groupClump.Insert(group);
this.mapObstacleToSuperClump[group] = groupClump;
var localGroup = group;
foreach (var candidate in obstacleTree.Root.AllHitItems(
group.PaddedBoundingBox,
cand => cand.IsRectangle && ObstaclesOverlap(localGroup, cand)))
{
SuperClump candClump;
if (this.mapObstacleToSuperClump.TryGetValue(candidate, out candClump) && (candClump != groupClump)) {
groupClump = JoinSuperClumps(groupClump, group, candClump);
continue;
}
AddObstacleToSuperClump(groupClump, candidate);
if (candidate.Clump != null)
{
foreach (var sibling in candidate.Clump)
{
AddObstacleToSuperClump(groupClump, sibling);
}
}
}
}
foreach (var superClump in this.mapObstacleToSuperClump.Values)
{
superClump.CalculateHierarchy();
}
}
private SuperClump JoinSuperClumps(SuperClump obsClump, Obstacle group, SuperClump candClump) {
foreach (var clumpee in obsClump.Obstacles)
{
candClump.Insert(clumpee);
this.mapObstacleToSuperClump[clumpee] = candClump;
}
obsClump = candClump;
this.mapObstacleToSuperClump[group] = obsClump;
return obsClump;
}
private SuperClump JoinSuperClumps(SuperClump obsClump, Obstacle group, SuperClump candClump)
{
foreach (var clumpee in obsClump.Obstacles)
{
candClump.Insert(clumpee);
this.mapObstacleToSuperClump[clumpee] = candClump;
}
obsClump = candClump;
this.mapObstacleToSuperClump[group] = obsClump;
return(obsClump);
}
private void MakeClumps()
{
// Accumulate overlapping rectangular groups and obstacles.
foreach (var group in obstacleTree.GetAllGroups().Where(group => group.IsRectangle))
{
var groupClump = new SuperClump();
groupClump.Insert(group);
this.mapObstacleToSuperClump[group] = groupClump;
var localGroup = group;
foreach (var candidate in obstacleTree.Root.AllHitItems(
group.PaddedBoundingBox,
cand => cand.IsRectangle && ObstaclesOverlap(localGroup, cand)))
{
SuperClump candClump;
if (this.mapObstacleToSuperClump.TryGetValue(candidate, out candClump) && (candClump != groupClump))
{
groupClump = JoinSuperClumps(groupClump, group, candClump);
continue;
}
AddObstacleToSuperClump(groupClump, candidate);
if (candidate.Clump != null)
{
foreach (var sibling in candidate.Clump)
{
AddObstacleToSuperClump(groupClump, sibling);
}
}
}
}
foreach (var superClump in this.mapObstacleToSuperClump.Values)
{
superClump.CalculateHierarchy();
}
}
private void AddObstacleToSuperClump(SuperClump groupClump, Obstacle candidate)
{
groupClump.Insert(candidate);
this.mapObstacleToSuperClump[candidate] = groupClump;
}
private void AddObstacleToSuperClump(SuperClump groupClump, Obstacle candidate) {
groupClump.Insert(candidate);
this.mapObstacleToSuperClump[candidate] = groupClump;
}