// helper method for the above
private List <PolygonWaypoint> findExitPath(PolygonWaypoint waypoint, List <PolygonWaypoint> visitedWaypoints)
{
foreach (PolygonWaypoint neighbor in waypoint.neighbors)
{
if (!visitedWaypoints.Contains(neighbor))
{
visitedWaypoints.Add(neighbor);
// found an opening - pack away the recursion and return the path
if (neighbor.waypointType == PolygonWaypoint.WaypointType.OPENING)
{
List <PolygonWaypoint> exitPath = new List <PolygonWaypoint>();
exitPath.Add(neighbor);
return(exitPath);
}
else
{
List <PolygonWaypoint> exitPath = findExitPath(neighbor, visitedWaypoints);
if (exitPath != null)
{
exitPath.Add(neighbor);
return(exitPath);
}
}
}
}
return(null);
}
// simple use of dijkstra's algorithm to find shortest path to an exit (incomplete, if necessary at all)
public List <PolygonWaypoint> findShortestPathToWaypoint(PolygonWaypoint srcWaypoint, PolygonWaypoint destWaypoint)
{
Dictionary <PolygonWaypoint, Double> waypointDistances = new Dictionary <PolygonWaypoint, double>();
Dictionary <PolygonWaypoint, PolygonWaypoint> prevs = new Dictionary <PolygonWaypoint, PolygonWaypoint>();
List <PolygonWaypoint> unvisited = new List <PolygonWaypoint>();
List <PolygonWaypoint> visited = new List <PolygonWaypoint>();
// start with all nodes unvisited
foreach (PolygonWaypoint point in waypoints)
{
waypointDistances.Add(point, Double.PositiveInfinity);
}
// set starting waypoint with tentative distance 0 and evaluate neighboring waypoints
unvisited.Remove(srcWaypoint);
waypointDistances[srcWaypoint] = 0;
visited.Add(srcWaypoint);
// keep evaluating waypoints until exit waypoint is evaluated
while (true)
{
double minTentativeDistance = Double.PositiveInfinity;
PolygonWaypoint minNeighbor = null;
// find the minimal tentative distance from the visited set to the neighbor
foreach (PolygonWaypoint visitedWaypoint in visited)
{
foreach (PolygonWaypoint neighbor in visitedWaypoint.neighbors)
{
if (visited.Contains(neighbor))
{
continue;
}
double distance = TerrainService.MathEngine.CalcDistance(visitedWaypoint.x, visitedWaypoint.y, neighbor.x, neighbor.y);
if (distance + waypointDistances[visitedWaypoint] < waypointDistances[neighbor])
{
waypointDistances[neighbor] = distance + waypointDistances[visitedWaypoint];
}
if (waypointDistances[neighbor] < minTentativeDistance)
{
minTentativeDistance = waypointDistances[neighbor];
minNeighbor = neighbor;
}
}
}
visited.Add(minNeighbor);
unvisited.Remove(minNeighbor);
}
return(null);
}
// simple use of dijkstra's algorithm to find shortest path to an exit (incomplete, if necessary at all)
public List<PolygonWaypoint> findShortestPathToWaypoint(PolygonWaypoint srcWaypoint, PolygonWaypoint destWaypoint)
{
Dictionary<PolygonWaypoint, Double> waypointDistances = new Dictionary<PolygonWaypoint, double>();
Dictionary<PolygonWaypoint, PolygonWaypoint> prevs = new Dictionary<PolygonWaypoint, PolygonWaypoint>();
List<PolygonWaypoint> unvisited = new List<PolygonWaypoint>();
List<PolygonWaypoint> visited = new List<PolygonWaypoint>();
// start with all nodes unvisited
foreach (PolygonWaypoint point in waypoints)
{
waypointDistances.Add(point, Double.PositiveInfinity);
}
// set starting waypoint with tentative distance 0 and evaluate neighboring waypoints
unvisited.Remove(srcWaypoint);
waypointDistances[srcWaypoint] = 0;
visited.Add(srcWaypoint);
// keep evaluating waypoints until exit waypoint is evaluated
while (true)
{
double minTentativeDistance = Double.PositiveInfinity;
PolygonWaypoint minNeighbor = null;
// find the minimal tentative distance from the visited set to the neighbor
foreach (PolygonWaypoint visitedWaypoint in visited)
{
foreach (PolygonWaypoint neighbor in visitedWaypoint.neighbors)
{
if (visited.Contains(neighbor)) continue;
double distance = TerrainService.MathEngine.CalcDistance(visitedWaypoint.x, visitedWaypoint.y, neighbor.x, neighbor.y);
if (distance + waypointDistances[visitedWaypoint] < waypointDistances[neighbor])
{
waypointDistances[neighbor] = distance + waypointDistances[visitedWaypoint];
}
if (waypointDistances[neighbor] < minTentativeDistance)
{
minTentativeDistance = waypointDistances[neighbor];
minNeighbor = neighbor;
}
}
}
visited.Add(minNeighbor);
unvisited.Remove(minNeighbor);
}
return null;
}
// find closest waypoint in the polygon to the given coordinates
public PolygonWaypoint findClosestWaypoint(double x, double y)
{
PolygonWaypoint closest = waypoints.ElementAt(0);
foreach (PolygonWaypoint w in waypoints)
{
double distToClosest = TerrainService.MathEngine.CalcDistance(x, y, closest.x, closest.y);
double distToCurrentWaypoint = TerrainService.MathEngine.CalcDistance(x, y, w.x, w.y);
if (distToCurrentWaypoint < distToClosest)
{
closest = w;
}
}
return(closest);
}
public void addWaypoint(PolygonWaypoint waypoint, params PolygonWaypoint[] neighbors)
{
// do not allow duplicate waypoints!
if (waypoints.Contains(waypoint)) return;
waypoints.Add(waypoint);
if (waypoint.waypointType == PolygonWaypoint.WaypointType.CORRIDOR) corridors.Add(waypoint);
if (waypoint.waypointType == PolygonWaypoint.WaypointType.ROOM) rooms.Add(waypoint);
if (waypoint.waypointType == PolygonWaypoint.WaypointType.OPENING) openings.Add(waypoint);
if (neighbors != null)
{
foreach (PolygonWaypoint neighbor in neighbors)
{
// this is a directed graph so we must add neighborhoods mutually, yet avoid duplicates
if (!waypoint.neighbors.Contains(neighbor)) waypoint.neighbors.Add(neighbor);
if (!neighbor.neighbors.Contains(waypoint)) neighbor.neighbors.Add(waypoint);
}
}
}
// arbitrarily find an exit path from a specific waypoint
public List <PolygonWaypoint> findExitPath(PolygonWaypoint waypoint)
{
List <PolygonWaypoint> visitedWaypoints = new List <PolygonWaypoint>();
List <PolygonWaypoint> exitPath = new List <PolygonWaypoint>();
visitedWaypoints.Add(waypoint);
// if destination waypoint is already an opening let it be our path out
if (waypoint.waypointType == PolygonWaypoint.WaypointType.OPENING)
{
exitPath.Add(waypoint);
return(exitPath);
}
// if not, go ahead and find a path
exitPath.AddRange(findExitPath(waypoint, visitedWaypoints));
exitPath.Add(waypoint);
exitPath.Reverse();
return(exitPath);
}
public void addWaypoint(PolygonWaypoint waypoint, params PolygonWaypoint[] neighbors)
{
// do not allow duplicate waypoints!
if (waypoints.Contains(waypoint))
{
return;
}
waypoints.Add(waypoint);
if (waypoint.waypointType == PolygonWaypoint.WaypointType.CORRIDOR)
{
corridors.Add(waypoint);
}
if (waypoint.waypointType == PolygonWaypoint.WaypointType.ROOM)
{
rooms.Add(waypoint);
}
if (waypoint.waypointType == PolygonWaypoint.WaypointType.OPENING)
{
openings.Add(waypoint);
}
if (neighbors != null)
{
foreach (PolygonWaypoint neighbor in neighbors)
{
// this is a directed graph so we must add neighborhoods mutually, yet avoid duplicates
if (!waypoint.neighbors.Contains(neighbor))
{
waypoint.neighbors.Add(neighbor);
}
if (!neighbor.neighbors.Contains(waypoint))
{
neighbor.neighbors.Add(waypoint);
}
}
}
}
//VH
internal void PolygonsInit()
{
try
{
List<clsPolygon> structures = new List<clsPolygon>();
Structure1 = TDS.DAL.PolygonsDB.GetPolygonByName("Polygon1");
Structure2 = TDS.DAL.PolygonsDB.GetPolygonByName("Malam");
// initialize waypoint graphs. TODO - move to non volatile afterwards
Structure1.waypointGraph = new PolygonWaypointGraph();
PolygonWaypoint waypoint1 = new PolygonWaypoint(1, 34.849099516868591, 32.098940297448664, PolygonWaypoint.WaypointType.CORRIDOR);
PolygonWaypoint waypoint2 = new PolygonWaypoint(2, 34.849078059196472, 32.098663090529335, PolygonWaypoint.WaypointType.CORRIDOR);
PolygonWaypoint waypoint3 = new PolygonWaypoint(3, 34.849582314491272, 32.098685812439619, PolygonWaypoint.WaypointType.CORRIDOR);
PolygonWaypoint waypoint7 = new PolygonWaypoint(7, 34.85012412071228, 32.098722167484318, PolygonWaypoint.WaypointType.CORRIDOR);
PolygonWaypoint waypoint8 = new PolygonWaypoint(8, 34.850113391876221, 32.098940297448664, PolygonWaypoint.WaypointType.ROOM);
PolygonWaypoint waypoint9 = new PolygonWaypoint(9, 34.85012412071228, 32.098444959902984, PolygonWaypoint.WaypointType.ROOM);
PolygonWaypoint waypoint10 = new PolygonWaypoint(10, 34.849571585655212, 32.0989584749222, PolygonWaypoint.WaypointType.ROOM);
PolygonWaypoint opening0 = new PolygonWaypoint(4, 34.8490619659424, 32.0996174058948, PolygonWaypoint.WaypointType.OPENING);
PolygonWaypoint opening4 = new PolygonWaypoint(5, 34.8496359586716, 32.0980768632898, PolygonWaypoint.WaypointType.OPENING);
PolygonWaypoint opening5 = new PolygonWaypoint(6, 34.848627448082, 32.0989584749222, PolygonWaypoint.WaypointType.OPENING);
opening0.edgeNum = 0;
opening4.edgeNum = 4;
opening5.edgeNum = 5;
Structure1.waypointGraph.addWaypoint(waypoint1, waypoint2, opening0, opening5, waypoint10);
Structure1.waypointGraph.addWaypoint(waypoint2, waypoint1, waypoint3);
Structure1.waypointGraph.addWaypoint(waypoint3, waypoint2, opening4);
Structure1.waypointGraph.addWaypoint(waypoint7, waypoint3);
Structure1.waypointGraph.addWaypoint(waypoint8, waypoint7);
Structure1.waypointGraph.addWaypoint(waypoint9, waypoint7);
Structure1.waypointGraph.addWaypoint(waypoint10, waypoint3, waypoint1);
Structure1.waypointGraph.addWaypoint(opening0, waypoint1);
Structure1.waypointGraph.addWaypoint(opening4, waypoint3);
Structure1.waypointGraph.addWaypoint(opening5, waypoint1);
Structure2.waypointGraph = new PolygonWaypointGraph();
PolygonWaypoint malamOpening1 = new PolygonWaypoint(1, 34.8513351380825, 32.098514261381, PolygonWaypoint.WaypointType.OPENING);
malamOpening1.edgeNum = 1;
PolygonWaypoint malamWaypoint2 = new PolygonWaypoint(2, 34.851239919662476, 32.098531303338191, PolygonWaypoint.WaypointType.CORRIDOR);
PolygonWaypoint malamWaypoint3 = new PolygonWaypoint(3, 34.851202368736267, 32.098304083596624, PolygonWaypoint.WaypointType.CORRIDOR);
PolygonWaypoint malamWaypoint4 = new PolygonWaypoint(4, 34.850950241088867, 32.098322261196749, PolygonWaypoint.WaypointType.CORRIDOR);
PolygonWaypoint malamWaypoint5 = new PolygonWaypoint(5, 34.851266741752625, 32.098753978136557, PolygonWaypoint.WaypointType.CORRIDOR);
PolygonWaypoint malamWaypoint6 = new PolygonWaypoint(6, 34.850998520851135, 32.098772155647154, PolygonWaypoint.WaypointType.CORRIDOR);
Structure2.waypointGraph.addWaypoint(malamOpening1, malamWaypoint2);
Structure2.waypointGraph.addWaypoint(malamWaypoint2, malamOpening1, malamWaypoint3, malamWaypoint5);
Structure2.waypointGraph.addWaypoint(malamWaypoint3, malamWaypoint2, malamWaypoint4);
Structure2.waypointGraph.addWaypoint(malamWaypoint4, malamWaypoint3);
Structure2.waypointGraph.addWaypoint(malamWaypoint5, malamWaypoint2, malamWaypoint6);
Structure2.waypointGraph.addWaypoint(malamWaypoint6, malamWaypoint5);
structures.Add(Structure1);
structures.Add(Structure2);
foreach (clsPolygon structure in structures)
{
foreach (var pnt in structure.Points)
{
if (pnt.x > structure.maxX) structure.maxX = pnt.x;
if (pnt.x < structure.minX) structure.minX = pnt.x;
if (pnt.y > structure.maxY) structure.maxY = pnt.y;
if (pnt.y < structure.minY) structure.minY = pnt.y;
}
}
}
catch (Exception ex)
{
}
}
// helper method for the above
private List<PolygonWaypoint> findExitPath(PolygonWaypoint waypoint, List<PolygonWaypoint> visitedWaypoints)
{
foreach (PolygonWaypoint neighbor in waypoint.neighbors)
{
if (!visitedWaypoints.Contains(neighbor))
{
visitedWaypoints.Add(neighbor);
// found an opening - pack away the recursion and return the path
if (neighbor.waypointType == PolygonWaypoint.WaypointType.OPENING)
{
List<PolygonWaypoint> exitPath = new List<PolygonWaypoint>();
exitPath.Add(neighbor);
return exitPath;
}
else
{
List<PolygonWaypoint> exitPath = findExitPath(neighbor, visitedWaypoints);
if (exitPath != null)
{
exitPath.Add(neighbor);
return exitPath;
}
}
}
}
return null;
}
// arbitrarily find an exit path from a specific waypoint
public List<PolygonWaypoint> findExitPath(PolygonWaypoint waypoint)
{
List<PolygonWaypoint> visitedWaypoints = new List<PolygonWaypoint>();
List<PolygonWaypoint> exitPath = new List<PolygonWaypoint>();
visitedWaypoints.Add(waypoint);
// if destination waypoint is already an opening let it be our path out
if (waypoint.waypointType == PolygonWaypoint.WaypointType.OPENING)
{
exitPath.Add(waypoint);
return exitPath;
}
// if not, go ahead and find a path
exitPath.AddRange(findExitPath(waypoint, visitedWaypoints));
exitPath.Add(waypoint);
exitPath.Reverse();
return exitPath;
}
