private void BuildClusterNodeIntraEdges(AbstractionLayer layer)
{
foreach (var c in layer.Clusters.Values)
{
foreach (var cn in c.ClusterNodes.Values)
{
calculateDistInnerClusterNodes(cn, c);
}
}
}
private void BuildClusterConnections(AbstractionLayer layer)
{
foreach (var cnode in layer.Clusters)
{
var neighbors = getHPAClusterNeighbors(cnode.Value);
foreach (var n in neighbors)
{
cnode.Value.AddNeighbor(n.ID, n);
n.AddNeighbor(cnode.Key, cnode.Value);
}
}
}
private void BuildHPAClusters()
{
HierarchicalGraph.Clear();
hpaWatch = new Stopwatch();
hpaWatch.Start();
AbstractionLayer layer = new AbstractionLayer(0, new List <Cluster>());
//we make 10 x 10 clusters , from the upper left to the lower right.
if (gMap.Width >= 20 && gMap.Height >= 20)
{
HPACsize = 10;
int i = 0;
int j = 0;
for (j = 0; j <= gMap.Height / HPACsize; ++j)
{
for (i = 0; i < gMap.Width; i += HPACsize)
{
CreateHPACluster(layer, i, j);
}
}
}
else //otherwise, we divide the map to 4 clusters by the size of width / 2 x height / 2
{
int i = 0;
int j = 0;
HPACsize = (gMap.Width % 2 == 0 ? gMap.Width / 2 : gMap.Width / 2 + 1);
for (j = 0; j <= gMap.Height / HPACsize; ++j)
{
for (i = 0; i < gMap.Width; i += HPACsize)
{
CreateHPACluster(layer, i, j);
}
}
}
HierarchicalGraph.Add(layer.ID, layer);
BuildClusterConnections(layer);
BuildClusterNodes(layer);
BuildClusterNodeIntraEdges(layer);
hpaWatch.Stop();
}
private void BuildClusterNodes(AbstractionLayer layer)
{
foreach (var c in layer.Clusters)
{
//for every cluster, we look at its OuterNodes - all 4 sides.
//We look at the neighboring nodes. If they are traversable,
//we start tracking an entrance. We expand an entrance as long as both the neighboring nodes
//are traversable. If one of them is not, we stop, look at the number of entrances and
//dependng on its size, create the corresponding number of cluster nodes.
foreach (var side in c.Value.OuterNodes)
{
Cluster neighbor;
List <Tuple <int, int> > possibleEntrances = new List <Tuple <int, int> >();
switch (side.Key)
{
case 'U':
//get the upper neighbor
neighbor = c.Value.GetNeighbor('U');
if (neighbor == null)
{
continue;
}
//now we start tracking entrances between these clusters.
possibleEntrances = new List <Tuple <int, int> >();
foreach (var n in side.Value)
{
int id = n - gMap.Width;
if (gMap.Nodes[n].IsTraversable() && gMap.Nodes[id].IsTraversable())
{
//ITEM1 is the Cluster node, ITEM2 is the NEIGHBOR cluster node
possibleEntrances.Add(Tuple.Create(n, id));
}
else
{
//there is an obstacle on either side of the outer nodes.
//get the number of items in hte possibleEntrances and create the cluster Nodes.
//after that, clear the possibleEntrances list and continue;
if (possibleEntrances.Count > 0)
{
if (possibleEntrances.Count < 5)
{
//make a single entrance in the middle.
//the FIRST tuple item is the node of 'c' and the second item is the node of neighbor
Tuple <int, int> entrance = possibleEntrances[possibleEntrances.Count / 2];
createClusterNodes(c.Value, neighbor, entrance);
possibleEntrances.Clear();
}
else if (possibleEntrances.Count >= 5 && possibleEntrances.Count < 7) //the continuous entrance length is higher than/equal to 5
{
//we create two entrances in this case, one on the start and one on the end.
Tuple <int, int> entrance1 = possibleEntrances[0];
Tuple <int, int> entrance2 = possibleEntrances[possibleEntrances.Count - 1];
createClusterNodes(c.Value, neighbor, entrance1, entrance2);
possibleEntrances.Clear();
}
else //>=7
{
//we create two entrances in this case - the first one column from the start,
//the second one column from the end
Tuple <int, int> entrance1 = possibleEntrances[2];
Tuple <int, int> entrance2 = possibleEntrances[possibleEntrances.Count - 3];
createClusterNodes(c.Value, neighbor, entrance1, entrance2);
possibleEntrances.Clear();
}
}
}
}
if (possibleEntrances.Count > 0)
{
if (possibleEntrances.Count < 5)
{
//make a single entrance in the middle.
//the FIRST tuple item is the node of 'c' and the second item is the node of neighbor
Tuple <int, int> entrance = possibleEntrances[possibleEntrances.Count / 2];
createClusterNodes(c.Value, neighbor, entrance);
possibleEntrances.Clear();
}
else if (possibleEntrances.Count >= 5 && possibleEntrances.Count < 7)
{
//we create two entrances in this case, one on the start and one on the end.
Tuple <int, int> entrance1 = possibleEntrances[0];
Tuple <int, int> entrance2 = possibleEntrances[possibleEntrances.Count - 1];
createClusterNodes(c.Value, neighbor, entrance1, entrance2);
possibleEntrances.Clear();
}
else //>= 7
{
//we create two entrances in this case - the first one column from the start,
//the second one column from the end
Tuple <int, int> entrance1 = possibleEntrances[2];
Tuple <int, int> entrance2 = possibleEntrances[possibleEntrances.Count - 3];
createClusterNodes(c.Value, neighbor, entrance1, entrance2);
possibleEntrances.Clear();
}
}
break;
case 'R':
//get the neighbor on the right
neighbor = c.Value.GetNeighbor('R');
if (neighbor == null)
{
continue;
}
//now we start tracking entrances between these clusters.
possibleEntrances = new List <Tuple <int, int> >();
foreach (var n in side.Value)
{
int id = n + 1;
if (gMap.Nodes[n].IsTraversable() && gMap.Nodes[id].IsTraversable() && ((GridMap)gMap).SameRow(n, id))
{
//ITEM1 is the Cluster node, ITEM2 is the NEIGHBOR cluster node
possibleEntrances.Add(Tuple.Create(n, id));
}
else
{
//there is an obstacle on either side of the outer nodes.
//get the number of items in hte possibleEntrances and create the cluster Nodes.
//after that, clear the possibleEntrances list and continue;
if (possibleEntrances.Count > 0)
{
if (possibleEntrances.Count < 5)
{
//make a single entrance in the middle.
//the FIRST tuple item is the node of 'c' and the second item is the node of neighbor
Tuple <int, int> entrance = possibleEntrances[possibleEntrances.Count / 2];
createClusterNodes(c.Value, neighbor, entrance);
possibleEntrances.Clear();
}
else if (possibleEntrances.Count >= 5 && possibleEntrances.Count < 7) //the continuous entrance length is higher than/equal to 5
{
//we create two entrances in this case, one on the start and one on the end.
Tuple <int, int> entrance1 = possibleEntrances[0];
Tuple <int, int> entrance2 = possibleEntrances[possibleEntrances.Count - 1];
createClusterNodes(c.Value, neighbor, entrance1, entrance2);
possibleEntrances.Clear();
}
else //>=7
{
//we create two entrances in this case - the first one column from the start,
//the second one column from the end
Tuple <int, int> entrance1 = possibleEntrances[2];
Tuple <int, int> entrance2 = possibleEntrances[possibleEntrances.Count - 3];
createClusterNodes(c.Value, neighbor, entrance1, entrance2);
possibleEntrances.Clear();
}
}
}
}
if (possibleEntrances.Count > 0)
{
if (possibleEntrances.Count < 5)
{
//make a single entrance in the middle.
//the FIRST tuple item is the node of 'c' and the second item is the node of neighbor
Tuple <int, int> entrance = possibleEntrances[possibleEntrances.Count / 2];
createClusterNodes(c.Value, neighbor, entrance);
possibleEntrances.Clear();
}
else if (possibleEntrances.Count >= 5 && possibleEntrances.Count < 7)
{
//we create two entrances in this case, one on the start and one on the end.
Tuple <int, int> entrance1 = possibleEntrances[0];
Tuple <int, int> entrance2 = possibleEntrances[possibleEntrances.Count - 1];
createClusterNodes(c.Value, neighbor, entrance1, entrance2);
possibleEntrances.Clear();
}
else //>= 7
{
//we create two entrances in this case - the first one column from the start,
//the second one column from the end
Tuple <int, int> entrance1 = possibleEntrances[2];
Tuple <int, int> entrance2 = possibleEntrances[possibleEntrances.Count - 3];
createClusterNodes(c.Value, neighbor, entrance1, entrance2);
possibleEntrances.Clear();
}
}
break;
}
}
}
}
public void CreateHPACluster(AbstractionLayer layer, int columnPos, int rowPos)
{
Cluster c = new Cluster(layer.LastAssignedClusterID);
layer.LastAssignedClusterID++;
HashSet <int> innerNodes = new HashSet <int>();
Dictionary <char, OuterNodeArea> outerNodes = new Dictionary <char, OuterNodeArea>
{
{ 'U', new OuterNodeArea() },
{ 'D', new OuterNodeArea() },
{ 'L', new OuterNodeArea() },
{ 'R', new OuterNodeArea() },
};
int startY = rowPos * HPACsize * gMap.Width;
int endY = startY == 0 ? HPACsize * gMap.Width : startY + gMap.Width * HPACsize;
int startX = columnPos;
int endX = columnPos + HPACsize; //non-inclusive
for (int j = startY; j < endY; j += gMap.Width)
{
for (int i = startX; i < endX; ++i)
{
if (gMap.Nodes.ContainsKey(i + j))
{
gMap.Nodes[i + j].HPAClusterParent = c.ID;
innerNodes.Add(i + j);
if (j == startY || i == startX || i == endX - 1 || j + gMap.Width >= endY)
{
char direction = 'D'; //default init
if (j == startY) //first row. 'U' outer node
{
direction = 'U';
}
else if (i == startX) //first column. 'L' node
{
direction = 'L';
}
else if (i == endX - 1) //last column. 'R' node
{
direction = 'R';
}
else //j + gMap.Width >= endY. last row. 'D' node
{
direction = 'D';
}
outerNodes[direction].Add(i + j);
}
}
}
}
if (innerNodes.Count != 0 && outerNodes.Count != 0)
{
c.SetInnerNodes(innerNodes);
c.SetOuterNodes(outerNodes);
layer.Clusters.Add(c.ID, c);
}
else
{
//do not add the cluster to layer; decrease the ID
layer.LastAssignedClusterID--;
}
}