public MyPath <V> FindPath(V start, V end, Predicate <V> vertexTraversable = null, Predicate <IMyPathEdge <V> > edgeTraversable = null)
{
// CH: TODO: Make multiple private copies of this method and call the right one
// according to what were the arguments to the public interface method
CalculateNextTimestamp();
MyPathfindingData startData = start.PathfindingData;
Visit(startData);
startData.Predecessor = null;
startData.PathLength = 0.0f;
IMyPathVertex <V> retVal = null;
float shortestPathLength = float.PositiveInfinity;
m_openVertices.Insert(start.PathfindingData, start.EstimateDistanceTo(end));
while (m_openVertices.Count > 0)
{
MyPathfindingData currentData = m_openVertices.RemoveMin();
V current = currentData.Parent as V;
float currentPathLength = currentData.PathLength;
if (retVal != null && currentPathLength >= shortestPathLength)
{
break;
}
for (int i = 0; i < current.GetNeighborCount(); ++i)
{
/*IMyPathVertex<V> neighbor = current.GetNeighbor(i);
* if (neighbor == null) continue;*/
IMyPathEdge <V> edge = current.GetEdge(i);
if (edge == null || (edgeTraversable != null && !edgeTraversable(edge)))
{
continue;
}
V neighbor = edge.GetOtherVertex(current);
if (neighbor == null || (vertexTraversable != null && !vertexTraversable(neighbor)))
{
continue;
}
float newPathLength = currentData.PathLength + edge.GetWeight();
MyPathfindingData neighborData = neighbor.PathfindingData;
if (neighbor == end && newPathLength < shortestPathLength)
{
retVal = neighbor;
shortestPathLength = newPathLength;
}
if (Visited(neighborData))
{
if (newPathLength < neighborData.PathLength)
{
neighborData.PathLength = newPathLength;
neighborData.Predecessor = currentData;
m_openVertices.ModifyUp(neighborData, newPathLength + neighbor.EstimateDistanceTo(end));
}
}
else
{
Visit(neighborData);
neighborData.PathLength = newPathLength;
neighborData.Predecessor = currentData;
m_openVertices.Insert(neighborData, newPathLength + neighbor.EstimateDistanceTo(end));
}
}
}
m_openVertices.Clear();
if (retVal == null)
{
return(null);
}
else
{
return(ReturnPath(retVal.PathfindingData, null, 0));
}
}
