public void CalculateMin()
{
Reset();
var open = new IntrusiveMinHeap <Edge>();
foreach (var node in nodes)
{
if (node.connected)
{
continue;
}
foreach (var edge in node.edges)
{
if (edge.target.connected)
{
continue;
}
open.Add(edge);
}
node.connected = true;
while (!open.Empty)
{
var edge = open.Pop();
var target = edge.target;
if (target.connected)
{
continue;
}
target.connected = true;
foreach (var connection in target.edges)
{
if (connection.target == edge.source)
{
edge = connection;
}
if (connection.target.connected)
{
continue;
}
open.Add(connection);
}
edges.Add(edge);
}
}
}
private PathFinder.Node FindPathReversed(List <PathFinder.Point> startList, List <PathFinder.Point> endList, int depth = 2147483647)
{
if (this.visited != null)
{
Array.Clear(this.visited, 0, this.visited.Length);
}
else
{
this.visited = new bool[this.costmap.GetLength(0), this.costmap.GetLength(1)];
}
int num = 0;
int length = this.costmap.GetLength(0) - 1;
int num1 = 0;
int length1 = this.costmap.GetLength(1) - 1;
IntrusiveMinHeap <PathFinder.Node> intrusiveMinHeap = new IntrusiveMinHeap <PathFinder.Node>();
foreach (PathFinder.Point point in startList)
{
int num2 = this.costmap[point.y, point.x];
int num3 = this.Heuristic(point, endList);
intrusiveMinHeap.Add(new PathFinder.Node(point, num2, num3, null));
this.visited[point.y, point.x] = true;
}
while (!intrusiveMinHeap.Empty)
{
int num4 = depth;
depth = num4 - 1;
if (num4 <= 0)
{
break;
}
PathFinder.Node node = intrusiveMinHeap.Pop();
if (node.heuristic == 0)
{
return(node);
}
for (int i = 0; i < (int)this.neighbors.Length; i++)
{
PathFinder.Point point1 = node.point + this.neighbors[i];
if (point1.x >= num && point1.x <= length && point1.y >= num1 && point1.y <= length1 && !this.visited[point1.y, point1.x])
{
this.visited[point1.y, point1.x] = true;
int num5 = this.costmap[point1.y, point1.x];
if (num5 != 2147483647)
{
int num6 = node.cost + num5;
int num7 = this.Heuristic(point1, endList);
intrusiveMinHeap.Add(new PathFinder.Node(point1, num6, num7, node));
}
}
}
}
return(null);
}
private PathFinder.Node FindPathReversed(
List <PathFinder.Point> startList,
List <PathFinder.Point> endList,
int depth = 2147483647)
{
if (this.visited == null)
{
this.visited = new bool[this.costmap.GetLength(0), this.costmap.GetLength(1)];
}
else
{
Array.Clear((Array)this.visited, 0, this.visited.Length);
}
int num1 = 0;
int num2 = this.costmap.GetLength(0) - 1;
int num3 = 0;
int num4 = this.costmap.GetLength(1) - 1;
IntrusiveMinHeap <PathFinder.Node> intrusiveMinHeap = (IntrusiveMinHeap <PathFinder.Node>)null;
foreach (PathFinder.Point start in startList)
{
int cost = this.costmap[start.y, start.x];
int heuristic = this.Heuristic(start, endList);
((IntrusiveMinHeap <PathFinder.Node>) ref intrusiveMinHeap).Add(new PathFinder.Node(start, cost, heuristic, (PathFinder.Node)null));
this.visited[start.y, start.x] = true;
}
while (!((IntrusiveMinHeap <PathFinder.Node>) ref intrusiveMinHeap).get_Empty() && depth-- > 0)
{
PathFinder.Node next = ((IntrusiveMinHeap <PathFinder.Node>) ref intrusiveMinHeap).Pop();
if (next.heuristic == 0)
{
return(next);
}
for (int index = 0; index < this.neighbors.Length; ++index)
{
PathFinder.Point point = next.point + this.neighbors[index];
if (point.x >= num1 && point.x <= num2 && (point.y >= num3 && point.y <= num4) && !this.visited[point.y, point.x])
{
this.visited[point.y, point.x] = true;
int num5 = this.costmap[point.y, point.x];
if (num5 != int.MaxValue)
{
int cost = next.cost + num5;
int heuristic = this.Heuristic(point, endList);
((IntrusiveMinHeap <PathFinder.Node>) ref intrusiveMinHeap).Add(new PathFinder.Node(point, cost, heuristic, next));
}
}
}
}
return((PathFinder.Node)null);
}
public PathFinder.Node FindClosestWalkable(PathFinder.Point start, int depth = 2147483647)
{
if (this.visited != null)
{
Array.Clear(this.visited, 0, this.visited.Length);
}
else
{
this.visited = new bool[this.costmap.GetLength(0), this.costmap.GetLength(1)];
}
int num = 0;
int length = this.costmap.GetLength(0) - 1;
int num1 = 0;
int length1 = this.costmap.GetLength(1) - 1;
IntrusiveMinHeap <PathFinder.Node> intrusiveMinHeap = new IntrusiveMinHeap <PathFinder.Node>();
int num2 = 1;
int num3 = this.Heuristic(start);
intrusiveMinHeap.Add(new PathFinder.Node(start, num2, num3, null));
this.visited[start.y, start.x] = true;
while (!intrusiveMinHeap.Empty)
{
int num4 = depth;
depth = num4 - 1;
if (num4 <= 0)
{
break;
}
PathFinder.Node node = intrusiveMinHeap.Pop();
if (node.heuristic == 0)
{
return(node);
}
for (int i = 0; i < (int)this.neighbors.Length; i++)
{
PathFinder.Point point = node.point + this.neighbors[i];
if (point.x >= num && point.x <= length && point.y >= num1 && point.y <= length1 && !this.visited[point.y, point.x])
{
this.visited[point.y, point.x] = true;
int num5 = node.cost + 1;
int num6 = this.Heuristic(point);
intrusiveMinHeap.Add(new PathFinder.Node(point, num5, num6, node));
}
}
}
return(null);
}
public void CalculateMin()
{
this.Reset();
IntrusiveMinHeap <SpanningTree <T> .Edge> intrusiveMinHeap = new IntrusiveMinHeap <SpanningTree <T> .Edge>();
foreach (SpanningTree <T> .Node node in this.nodes)
{
if (node.connected)
{
continue;
}
foreach (SpanningTree <T> .Edge edge in node.edges)
{
if (edge.target.connected)
{
continue;
}
intrusiveMinHeap.Add(edge);
}
node.connected = true;
while (!intrusiveMinHeap.Empty)
{
SpanningTree <T> .Edge edge1 = intrusiveMinHeap.Pop();
SpanningTree <T> .Node node1 = edge1.target;
if (node1.connected)
{
continue;
}
node1.connected = true;
foreach (SpanningTree <T> .Edge edge2 in node1.edges)
{
if (edge2.target == edge1.source)
{
edge1 = edge2;
}
if (edge2.target.connected)
{
continue;
}
intrusiveMinHeap.Add(edge2);
}
this.edges.Add(edge1);
}
}
}
public PathFinder.Node FindClosestWalkable(PathFinder.Point start, int depth = 2147483647)
{
if (this.visited == null)
{
this.visited = new bool[this.costmap.GetLength(0), this.costmap.GetLength(1)];
}
else
{
Array.Clear((Array)this.visited, 0, this.visited.Length);
}
int num1 = 0;
int num2 = this.costmap.GetLength(0) - 1;
int num3 = 0;
int num4 = this.costmap.GetLength(1) - 1;
IntrusiveMinHeap <PathFinder.Node> intrusiveMinHeap = (IntrusiveMinHeap <PathFinder.Node>)null;
int cost1 = 1;
int heuristic1 = this.Heuristic(start);
((IntrusiveMinHeap <PathFinder.Node>) ref intrusiveMinHeap).Add(new PathFinder.Node(start, cost1, heuristic1, (PathFinder.Node)null));
this.visited[start.y, start.x] = true;
while (!((IntrusiveMinHeap <PathFinder.Node>) ref intrusiveMinHeap).get_Empty() && depth-- > 0)
{
PathFinder.Node next = ((IntrusiveMinHeap <PathFinder.Node>) ref intrusiveMinHeap).Pop();
if (next.heuristic == 0)
{
return(next);
}
for (int index = 0; index < this.neighbors.Length; ++index)
{
PathFinder.Point point = next.point + this.neighbors[index];
if (point.x >= num1 && point.x <= num2 && (point.y >= num3 && point.y <= num4) && !this.visited[point.y, point.x])
{
this.visited[point.y, point.x] = true;
int cost2 = next.cost + 1;
int heuristic2 = this.Heuristic(point);
((IntrusiveMinHeap <PathFinder.Node>) ref intrusiveMinHeap).Add(new PathFinder.Node(point, cost2, heuristic2, next));
}
}
}
return((PathFinder.Node)null);
}