private int GetPathLength(AbstractNode startNode, AbstractNode goalNode)
{
clusterMap.Start = startNode.LocationL1;
clusterMap.Goal = goalNode.LocationL1;
int count;
//Call A*
List <PathFinderNode> intraPath = FGAlgorythm.GetPathByMap(clusterMap);
if (intraPath == null)
{
return(0);
}
else
{
count = intraPath.Count - 1;
//write path to AbstractGraph
List <AbstractNode> path = new List <AbstractNode>();
foreach (PathFinderNode item in intraPath)
{
Location location = new Location(item.X, item.Y, item.Z);
AbstractNode abstractNode = new AbstractNode()
{
LocationL0 = LocationConvertor.L1ToL0(location, _cluster)
};
path.Add(abstractNode);
}
AbstractGraph.IntraPathes[startNode.Id, goalNode.Id] = path;
}
return(count);
}
private void SetValues(Cluster cluster, Location L1)
{
Location L0 = LocationConvertor.L1ToL0(L1, cluster);
WriteNodeToCluster(cluster, L0, L1);
//Mark nodes for MapMatrixL1 visualization
AbstractGraph.MapMatrixL1[L0.X, L0.Y, L0.Z] = 5;
//Mark nodes for ClusterMatrix visualization
cluster.Matrix[L1.X, L1.Y, L1.Z] = 5;
}
void AddToCluster(Location L0)
{
cluster = Node.GetCluster(L0);
Location L1 = LocationConvertor.L0ToL1(L0, cluster);
node = new AbstractNode()
{
Id = AbstractGraph.NodesCount + 1,
LocationL0 = L0,
LocationL1 = L1
};
AbstractGraph.NodesCount += 1;
cluster.AbstractNodes.Add(node);
}