public static void UpdateDijkstraMap(PosArray<int> map,IntLocationDelegate get_cost)
{
PriorityQueue<cell> frontier = new PriorityQueue<cell>(c => -c.value);
int height = map.objs.GetLength(0);
int width = map.objs.GetLength(1);
for(int i=0;i<height;++i){
for(int j=0;j<width;++j){
if(map[i,j] != U.DijkstraMin){
int v = map[i,j];
bool good = true;
for(int s=-1;s<=1 && good;++s){
for(int t=-1;t<=1 && good;++t){
if(i+s >= 0 && i+s < height && j+t >= 0 && j+t < width){
if(map[i+s,j+t] < v && map[i+s,j+t] != U.DijkstraMin){
good = false;
}
}
}
}
if(good){ //find local minima and add them to the frontier
frontier.Add(new cell(i,j,v));
}
}
}
}
while(frontier.list.Count > 0){
cell c = frontier.Pop();
for(int s=-1;s<=1;++s){
for(int t=-1;t<=1;++t){
if(c.row+s >= 0 && c.row+s < height && c.col+t >= 0 && c.col+t < width){
int cost = get_cost(c.row+s,c.col+t);
if(map[c.row+s,c.col+t] > c.value+cost){
map[c.row+s,c.col+t] = c.value+cost;
frontier.Add(new cell(c.row+s,c.col+t,c.value+cost));
}
}
}
}
}
}
//todo: remove dijkstra from this file, use the one in Utility? (do I have UpdateDijkstra in Utility?)
public static PosArray<int> GetDijkstraMap(int height,int width,BooleanLocationDelegate is_blocked,IntLocationDelegate get_cost,List<cell> sources)
{
PriorityQueue<cell> frontier = new PriorityQueue<cell>(c => -c.value);
PosArray<int> map = new PosArray<int>(height,width);
for(int i=0;i<height;++i){
for(int j=0;j<width;++j){
if(is_blocked(i,j)){
map[i,j] = U.DijkstraMin;
}
else{
map[i,j] = U.DijkstraMax;
}
}
}
foreach(cell c in sources){
map[c.row,c.col] = c.value;
frontier.Add(c);
}
while(frontier.list.Count > 0){
cell c = frontier.Pop();
for(int s=-1;s<=1;++s){
for(int t=-1;t<=1;++t){
if(c.row+s >= 0 && c.row+s < height && c.col+t >= 0 && c.col+t < width){
int cost = get_cost(c.row+s,c.col+t);
if(map[c.row+s,c.col+t] > c.value+cost){
map[c.row+s,c.col+t] = c.value+cost;
frontier.Add(new cell(c.row+s,c.col+t,c.value+cost));
}
}
}
}
}
for(int i=0;i<height;++i){
for(int j=0;j<width;++j){
if(map[i,j] == U.DijkstraMax){
map[i,j] = U.DijkstraMin; //any unreachable areas are marked unpassable
}
}
}
return map;
}
