// insert a new node, such as start or target, to the abstract graph and
// returns the id of the newly created node in the abstract graph
// x and y are the positions where I want to put the node
private Id <AbstractNode> InsertNodeIntoHierarchicalMap(HierarchicalMap map, Id <ConcreteNode> concreteNodeId, Position pos)
{
// If the node already existed (for instance, it was the an entrance point already
// existing in the graph, we need to keep track of the previous status in order
// to be able to restore it once we delete this STAL
if (map.ConcreteNodeIdToAbstractNodeIdMap.ContainsKey(concreteNodeId))
{
var existingAbstractNodeId = map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId];
var nodeBackup = new NodeBackup(
map.AbstractGraph.GetNodeInfo(existingAbstractNodeId).Level,
map.GetNodeEdges(concreteNodeId));
nodeBackups[existingAbstractNodeId] = nodeBackup;
return(map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId]);
}
var cluster = map.FindClusterForPosition(pos);
// create global entrance
var abstractNodeId = Id <AbstractNode> .From(map.NrNodes);
var entrance = cluster.AddEntrance(abstractNodeId, new Position(pos.X - cluster.Origin.X, pos.Y - cluster.Origin.Y));
cluster.UpdatePathsForLocalEntrance(entrance);
map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId] = abstractNodeId;
var info = new AbstractNodeInfo(
abstractNodeId,
1,
cluster.Id,
pos,
concreteNodeId);
map.AbstractGraph.AddNode(abstractNodeId, info);
foreach (var entrancePoint in cluster.EntrancePoints)
{
if (cluster.AreConnected(abstractNodeId, entrancePoint.AbstractNodeId))
{
map.AddEdge(
entrancePoint.AbstractNodeId,
abstractNodeId,
cluster.GetDistance(entrancePoint.AbstractNodeId, abstractNodeId));
map.AddEdge(
abstractNodeId,
entrancePoint.AbstractNodeId,
cluster.GetDistance(abstractNodeId, entrancePoint.AbstractNodeId));
}
}
return(abstractNodeId);
}
/// <summary>
/// 插入节点到Cluster内，并构建相关节点和边到图中
/// </summary>
private int InsertAbstractNodeInClusterLevel(HierarchicalMap map, Vector2Int concretePos)
{
AbstractNode abstractNode = map.GetAbstractNode(concretePos);
//如果要插入的位置已经存在节点，则保存相关信息，以便之后删除时恢复
if (abstractNode != null)
{
NodeBackup backup = new NodeBackup(abstractNode.Level, abstractNode.Edges.Values.ToList());
if (m_backupDict.ContainsKey(abstractNode.Id))
{
Debug.LogError("已经存在一个NodeBackup，逻辑上出错了");
}
m_backupDict[abstractNode.Id] = backup;
return(abstractNode.Id);
}
//把节点插入到Cluster内
int abstractId = map.NodeCount();
var cluster = map.FindClusterForPosition(concretePos);
var entrance = cluster.AddEntrancePoint(abstractId, m_concreteMap.Get(concretePos));
cluster.AddIntraEdgesData(entrance);
//把节点插入到图中
abstractNode = HPADemo.Instance.CreateAbstractNode(1, concretePos);
abstractNode.Init(abstractId, 1, cluster.Id, concretePos);
map.AddAbstractNode(abstractNode);
map.AbstractGraph.AddNode(abstractNode);
//把该节点相关的边插入到图中
foreach (var otherEntrance in cluster.EntrancePoints)
{
if (cluster.IsConnected(abstractId, otherEntrance.AbstractId))
{
float distance = cluster.Distance(abstractId, otherEntrance.AbstractId);
AbstractEdge edge = HPADemo.Instance.CreateEdge(concretePos, otherEntrance.ConcreteNode.Pos, 1, false);
edge.Init(otherEntrance.AbstractId, distance, 1, false);
map.AbstractGraph.AddEdge(abstractId, edge);
edge = HPADemo.Instance.CreateEdge(otherEntrance.ConcreteNode.Pos, concretePos, 1, false);
edge.Init(abstractId, distance, 1, false);
map.AbstractGraph.AddEdge(otherEntrance.AbstractId, edge);
}
}
return(abstractId);
}
