public static Graph ShortestPath(VisibilityGraph visibilityGraph, Vertex origin, Vertex destination)
{
Graph shortest;
bool containsOrigin = visibilityGraph.Contains(origin);
bool containsDestination = visibilityGraph.Contains(destination);
if (containsOrigin && containsDestination)
{
shortest = Algorithms.Algorithms.Dijkstra(visibilityGraph, origin, destination);
}
else
{
Vertex gO = (!containsOrigin) ? origin : null;
Vertex gD = (!containsDestination) ? destination : null;
Graph tempGraph = new Graph();
if (!containsOrigin)
{
foreach (Vertex v in VisibleVertices(origin, visibilityGraph.baseGraph, null, gD, null, false, true))
{
tempGraph.AddEdge(new Edge(origin, v));
}
}
if (!containsDestination)
{
foreach (Vertex v in VisibleVertices(destination, visibilityGraph.baseGraph, gO, null, null, false, true))
{
tempGraph.AddEdge(new Edge(destination, v));
}
}
shortest = Algorithms.Algorithms.Dijkstra(visibilityGraph, origin, destination, tempGraph);
}
return(shortest);
}
/// <summary>
/// Adds specific points as gVertices to the VisibilityGraph Graph
/// </summary>
/// <param name="visibilityGraph">VisibilityGraph Graph</param>
/// <param name="vertices">Points to add as gVertices</param>
/// <returns></returns>
public static VisibilityGraph AddVertices(VisibilityGraph visibilityGraph, List <Vertex> vertices, bool reducedGraph = true)
{
//TODO: Seems that original graph gets updated as well
if (vertices == null)
{
throw new NullReferenceException("vertices");
}
VisibilityGraph newVisGraph = (VisibilityGraph)visibilityGraph.Clone();
List <Vertex> singleVertices = new List <Vertex>();
foreach (Vertex v in vertices)
{
if (newVisGraph.Contains(v))
{
continue;
}
Edge closestEdge = newVisGraph.baseGraph.edges.OrderBy(e => e.DistanceTo(v)).First();
if (!closestEdge.DistanceTo(v).AlmostEqualTo(0))
{
singleVertices.Add(v);
}
else if (v.OnEdge(closestEdge.StartVertex, closestEdge.EndVertex))
{
v.polygonId = closestEdge.StartVertex.polygonId;
newVisGraph.baseGraph.polygons[v.polygonId] = newVisGraph.baseGraph.polygons[v.polygonId].AddVertex(v, closestEdge);
singleVertices.Add(v);
}
}
newVisGraph.baseGraph.ResetEdgesFromPolygons();
foreach (Vertex centre in singleVertices)
{
foreach (Vertex v in VisibleVertices(centre, newVisGraph.baseGraph, null, null, singleVertices, false, reducedGraph))
{
newVisGraph.AddEdge(new Edge(centre, v));
}
}
return(newVisGraph);
}
