private void Generate()
{
HierarchicalMapFactory factory = new HierarchicalMapFactory();
HierarchicalMap hierarchicalMap = factory.CreateHierarchicalMap(m_concreteMap, m_clusterSize, m_maxLevel);
List <PathNode> path = HierarchicalSearch.Search(factory, hierarchicalMap, m_maxLevel, m_startNode.Pos, m_goalNode.Pos);
for (int i = 0; i < path.Count; i++)
{
var node = m_concreteMap.Get(path[i].Pos);
node.SetSearchType(SearchType.Path);
}
}
private static List <IPathNode> HierarchicalSearch(HierarchicalMap hierarchicalMap, int maxLevel, ConcreteMap concreteMap, Position startPosition, Position endPosition)
{
var factory = new HierarchicalMapFactory();
var startAbsNode = factory.InsertAbstractNode(hierarchicalMap, startPosition);
var targetAbsNode = factory.InsertAbstractNode(hierarchicalMap, endPosition);
var maxPathsToRefine = int.MaxValue;
var hierarchicalSearch = new HierarchicalSearch();
var abstractPath = hierarchicalSearch.DoHierarchicalSearch(hierarchicalMap, startAbsNode, targetAbsNode, maxLevel, maxPathsToRefine);
var path = hierarchicalSearch.AbstractPathToLowLevelPath(hierarchicalMap, abstractPath, hierarchicalMap.Width, maxPathsToRefine);
var smoother = new SmoothWizard(concreteMap, path);
path = smoother.SmoothPath();
factory.RemoveAbstractNode(hierarchicalMap, targetAbsNode);
factory.RemoveAbstractNode(hierarchicalMap, startAbsNode);
return(path);
}