public List <List <HapticLocationNode> > BFS(AreaFlag beginNode, int maxDepth)
{
maxDepth = Math.Max(0, maxDepth);
List <List <HapticLocationNode> > stages = new List <List <HapticLocationNode> >();
HapticLocationNode source = _nodes[beginNode];
Dictionary <HapticLocationNode, bool> visited = new Dictionary <HapticLocationNode, bool>();
foreach (var n in _nodes)
{
visited[n.Value] = false;
}
Queue <HapticLocationNode> queue = new Queue <HapticLocationNode>();
int currentDepth = 0;
int elementsToDepthIncrease = 1;
int nextElementsToDepthIncrease = 0;
visited[source] = true;
queue.Enqueue(source);
stages.Add(new List <HapticLocationNode>()
{
source
});
List <HapticLocationNode> potentialNextStage = new List <HapticLocationNode>();
while (queue.Count != 0)
{
source = queue.Dequeue();
var neighbors = Neighbors(source);
foreach (var neighbor in neighbors)
{
if (!visited[neighbor])
{
visited[neighbor] = true;
queue.Enqueue(neighbor);
potentialNextStage.Add(neighbor);
nextElementsToDepthIncrease++;
}
}
if (--elementsToDepthIncrease == 0)
{
if (potentialNextStage.Count > 0)
{
stages.Add(new List <HapticLocationNode>(potentialNextStage));
}
if (++currentDepth == maxDepth)
{
return(stages);
}
elementsToDepthIncrease = nextElementsToDepthIncrease;
nextElementsToDepthIncrease = 0;
potentialNextStage.Clear();
}
}
return(stages);
}
private void InsertEdge(HapticLocationNode nodeA, HapticLocationNode nodeB, int weight)
{
if (!_graph[nodeA].Contains(nodeB))
{
_graph[nodeA].Add(nodeB);
}
if (!_graph[nodeB].Contains(nodeA))
{
_graph[nodeB].Add(nodeA);
}
_weights[nodeA][nodeB] = weight;
_weights[nodeB][nodeA] = weight;
}
private HapticLocationNode minDist(IList <HapticLocationNode> stack, Dictionary <HapticLocationNode, float> dist)
{
HapticLocationNode best = null;
float bestDist = float.PositiveInfinity;
foreach (var node in stack)
{
if (dist[node] < bestDist)
{
best = node;
bestDist = dist[node];
}
}
return(best);
}
private List <HapticLocationNode> Neighbors(HapticLocationNode node)
{
return(_graph[node]);
}
private int Cost(HapticLocationNode a, HapticLocationNode b)
{
return(_weights[a][b]);
}
