public Node[] SolveFirst(Vector2 vqinit, Vector2 vqend)
{
QuadTreeArea currentArea = new QuadTreeArea(Math.Min(vqinit.X, vqend.X),
Math.Max(vqinit.Y, vqend.Y),
Math.Max(vqinit.X, vqend.X),
Math.Min(vqinit.Y, vqend.Y));
Node qend = new Node { Position = vqend};
Node qinit = new Node { Position = vqinit };
qinit.Heuristic = (vqend - vqinit).Module();
currentArea.Add(qinit);
ProblemContext.onNewNode(qinit);
int CurrentIteration = 0;
while (CurrentIteration < ProblemContext.MaxGenerations)
{
Node bestNode = currentArea.GetBestNodeFromMostUndenseArea();
Node newNode = bestNode.TryExpand(qend);
if (currentArea.Parent != null)
currentArea = currentArea.Antecesor;
if (newNode == qend)
{
return newNode.Predecesors.ToArray();
}
CurrentIteration++;
}
return null;
}
public Node[] SolveFirst(Vector2 vqinit, Vector2 vqend)
{
QuadTreeArea currentArea = new QuadTreeArea(Math.Min(vqinit.X, vqend.X),
Math.Max(vqinit.Y, vqend.Y),
Math.Max(vqinit.X, vqend.X),
Math.Min(vqinit.Y, vqend.Y));
Node qend = new Node {
Position = vqend
};
Node qinit = new Node {
Position = vqinit
};
qinit.Heuristic = (vqend - vqinit).Module();
currentArea.Add(qinit);
ProblemContext.onNewNode(qinit);
int CurrentIteration = 0;
while (CurrentIteration < ProblemContext.MaxGenerations)
{
Node bestNode = currentArea.GetBestNodeFromMostUndenseArea();
Node newNode = bestNode.TryExpand(qend);
if (currentArea.Parent != null)
{
currentArea = currentArea.Antecesor;
}
if (newNode == qend)
{
return(newNode.Predecesors.ToArray());
}
CurrentIteration++;
}
return(null);
}
public void Add(Node node)
{
if (this.Cover(node))
{
if (IsFinalNode)
{
if (Nodes.Count == ProblemContext.NodesPerArea && Area >= ProblemContext.MinAreaSize)
{
//SUBDIVISION
subdivide();
Nodes.Add(node);
foreach (Node n in Nodes)
{
QuadTreeArea selectedArea = GetCoveringChildArea(n);
selectedArea.Add(n);
}
this.Nodes.Clear();
this.Nodes = null;
}
else
{
//NORMAL ADDITION
//BASE CASE
Nodes.Add(node);
node.Area = this;
if (this.BestNode == null || node.PathQualityEstimation < this.BestNode.PathQualityEstimation)
{
this.BestNode = node;
}
}
}
else
{
//RECURSIVE DOWN CASE
GetCoveringChildArea(node).Add(node);
}
}
else
{
if (this.Parent == null)
{
bool north = node.Position.Y > this.Top;
bool west = node.Position.X < this.Left;
bool south = node.Position.Y < this.Bottom;
bool east = node.Position.X > this.Right;
double width = this.Width;
double height = this.Height;
if (south || east)
{
Parent = new QuadTreeArea(this.Left, this.Top, this.Right + width, this.Bottom - height);
Parent.NWest = this;
}
else if (north || west)
{
Parent = new QuadTreeArea(this.Left - width, this.Top + height, this.Right, this.Bottom);
Parent.SEast = this;
}
else
{
throw new NotImplementedException();
}
this.Name = (north ? "N" : "S") + (east ? "E" : "W");
Parent.subdivide();
}
this.Parent.Add(node);
}
}