| public AddEdge ( int sourceNodeId, int destNodeId, int cost, int level = 1, bool inter = false ) : void | ||
| sourceNodeId | int | |
| destNodeId | int | |
| cost | int | |
| level | int | |
| inter | bool | |
| return | void | |
public void RemoveAbstractNode(HierarchicalMap map, int nodeId, int stal)
{
var abstractGraph = map.AbstractGraph;
if (m_stalUsed[stal])
{
// The node was an existing entrance point in the graph. Restore it with
// the information we kept when inserting
var nodeInfo = abstractGraph.GetNodeInfo(nodeId);
nodeInfo.Level = m_stalLevel[stal];
abstractGraph.RemoveEdgesFromNode(nodeId);
abstractGraph.AddNode(nodeId, nodeInfo);
foreach (var edge in m_stalEdges[stal])
{
var targetNodeId = edge.TargetNodeId;
map.AddEdge(nodeId, targetNodeId, edge.Info.Cost,
edge.Info.Level, edge.Info.IsInterEdge);
map.AddEdge(targetNodeId, nodeId, edge.Info.Cost,
edge.Info.Level, edge.Info.IsInterEdge);
}
}
else
{
// Just delete the node from the graph
var currentNodeInfo = abstractGraph.GetNodeInfo(nodeId);
var clusterId = currentNodeInfo.ClusterId;
var cluster = map.Clusters[clusterId];
cluster.RemoveLastEntranceRecord();
map.AbsNodeIds[currentNodeInfo.CenterId] = Constants.NO_NODE;
abstractGraph.RemoveEdgesFromNode(nodeId);
abstractGraph.RemoveLastNode();
}
}
// insert a new node, such as start or target, to the abstract graph and
// returns the id of the newly created node in the abstract graph
// x and y are the positions where I want to put the node
private int InsertStal(HierarchicalMap map, int nodeId, Position pos, int start)
{
// If the node already existed (for instance, it was the an entrance point already
// existing in the graph, we need to keep track of the previous status in order
// to be able to restore it once we delete this STAL
if (map.AbsNodeIds[nodeId] != Constants.NO_NODE)
{
m_stalLevel[start] = map.AbstractGraph.GetNodeInfo(map.AbsNodeIds[nodeId]).Level;
m_stalEdges[start] = map.GetNodeEdges(nodeId);
m_stalUsed[start] = true;
return map.AbsNodeIds[nodeId];
}
m_stalUsed[start] = false;
var cluster = map.FindClusterForPosition(pos);
// create global entrance
var absNodeId = map.NrNodes;
var localEntranceIdx = cluster.AddEntrance(absNodeId, new Position(pos.X - cluster.Origin.X, pos.Y - cluster.Origin.Y));
cluster.UpdatePaths(localEntranceIdx);
map.AbsNodeIds[nodeId] = absNodeId;
var info = new AbsTilingNodeInfo(
absNodeId,
1,
cluster.Id,
pos,
nodeId,
localEntranceIdx);
map.AbstractGraph.AddNode(absNodeId, info);
// add new edges to the abstract graph
for (var k = 0; k < cluster.GetNrEntrances() - 1; k++)
{
if (cluster.AreConnected(localEntranceIdx, k))
{
map.AddEdge(
cluster.GetGlobalAbsNodeId(k),
cluster.GetGlobalAbsNodeId(localEntranceIdx),
cluster.GetDistance(localEntranceIdx, k));
map.AddEdge(
cluster.GetGlobalAbsNodeId(localEntranceIdx),
cluster.GetGlobalAbsNodeId(k),
cluster.GetDistance(k, localEntranceIdx));
}
}
return absNodeId;
}
/// <summary>
/// Adds an edge between two abstract nodes for a given level
/// </summary>
private static void AddEdgesBetweenAbstractNodes(HierarchicalMap map, int absNodeId1, int absNodeId2, int level)
{
if (absNodeId1 == absNodeId2 || !IsValidAbstractNode(map, absNodeId2, level))
return;
var search = new AStar();
var path = search.FindPath(map, absNodeId1, absNodeId2);
if (path.PathCost >= 0)
{
map.AddEdge(absNodeId1, absNodeId2, path.PathCost, level, false);
map.AddEdge(absNodeId2, absNodeId1, path.PathCost, level, false);
}
}
