Exemple #1
0
 private static void DrawGraphNode(Bitmap bitmap, IGraphNode node, int scale, List <IGraphNode> visitedList)
 {
     DrawScaledPixel(bitmap, Color.Blue, node.Position.X, node.Position.Y, scale);
     visitedList.Add(node);
     LogManager.Log($"Visited list size: {visitedList.Count}");
     foreach (var connection in node.GetConnectedNodes())
     {
         if (!visitedList.Contains(connection))
         {
             DrawGraphNode(bitmap, connection, scale, visitedList);
         }
     }
 }
Exemple #2
0
        public IList <IGraphNode> GetPath(IGraph map, IGraphNode startNode, IGraphNode stopNode)
        {
            if (startNode == null || stopNode == null)
            {
                return(null);
            }

            List <IGraphNode> openNodes = new List <IGraphNode>();

            bool isWeighted = startNode is IWeightedGraphNode <double>;

            openNodes.Add(startNode);

            while (openNodes.Count > 0)
            {
                //SortFValue(openNodes);
                IGraphNode x        = DequeueLast(openNodes);
                Vector2Int position = GetPosition(x);
                OnCellViewedEvent?.Invoke(this, position.X, position.Y, (int)GetGValue(x));
                if (x == stopNode)
                {
                    break;
                }

                CloseNode(x);

                foreach (var y in x.GetConnectedNodes())
                {
                    if (IsClosed(y))
                    {
                        continue;
                    }

                    int yIndex = openNodes.IndexOf(y);

                    if (yIndex == -1)
                    {
                        SetPathPredecessor(y, x);
                        double nodesDistance;
                        if (isWeighted)
                        {
                            nodesDistance = GetConnectionWeight((IWeightedGraphNode <double>)x, (IWeightedGraphNode <double>)y);
                        }
                        else
                        {
                            nodesDistance = GetConnectionWeight(x, y);
                        }

                        SetGValue(y, GetGValue(x) + nodesDistance);
                        double estimateDistance = GetEstimateDistance(y, stopNode);
                        SetHValue(y, estimateDistance);
                        Utils.InsertSortedDescending(openNodes, y, this);
                    }
                    else
                    {
                        double nodesDistance;
                        if (isWeighted)
                        {
                            nodesDistance = GetConnectionWeight((IWeightedGraphNode <double>)x, (IWeightedGraphNode <double>)y);
                        }
                        else
                        {
                            nodesDistance = GetConnectionWeight(x, y);
                        }
                        double xGValue = GetGValue(x) + nodesDistance;
                        double yGValue = GetGValue(y);
                        if (xGValue < yGValue)
                        {
                            SetGValue(y, xGValue);
                            SetPathPredecessor(y, x);
                            openNodes.RemoveAt(yIndex);
                            Utils.InsertSortedDescending(openNodes, y, this);
                        }
                    }
                }
            }

            if (GetPathPredecessor(stopNode) == null)
            {
                return(null);
            }

            List <IGraphNode> path = new List <IGraphNode>();

            path.Add(stopNode);
            IGraphNode currentNode = stopNode;

            while (true)
            {
                currentNode = GetPathPredecessor(currentNode);
                if (currentNode == null)
                {
                    break;
                }
                path.Add(currentNode);
            }


            return(path);
        }