private void AStarInit(out List <Node> prioQueue, MapLoc originMapLoc, MapLoc destinationMapLoc)
{
foreach (Node n in nodelist)
{
n.distanceTo[destinationMapLoc] = MapUtil.Distance(n.loc, destinationMapLoc);
}
nodeDict[originMapLoc].distanceFrom[originMapLoc] = 0f;
prioQueue = new List <Node>();
prioQueue.Add(nodeDict[originMapLoc]);
}
public static float CostStandard(MapLoc l, MapLoc n, float[,] _elevation, float _seaLevel, float _seaTravelCost)
{
float nelev = _elevation[n.x, n.y];
float lelev = _elevation[l.x, l.y];
float diff = (nelev > _seaLevel && lelev > _seaLevel) ? Math.Abs(nelev - lelev) : _seaTravelCost;
float dist = MapUtil.Distance(n, l);
diff *= dist;
diff += dist;
return(diff);
}
private bool UpdateGPSPositionIfSignificantChange(CLLocation newLocation, CLLocation previousLocation)
{
double lat1 = newLocation.Coordinate.Latitude;
double lon1 = newLocation.Coordinate.Longitude;
if (previousLocation == null || MapUtil.Distance(lat1, lon1, previousLocation.Coordinate.Latitude, previousLocation.Coordinate.Longitude, MapUtil.UnitOfLength.Meters) > distanceToUpdateAddress)
{
AppDelegate.current.mainViewController.InvokeOnMainThread(delegate
{
AppDelegate.current.locationManager.lastPositionType = PositionTypeConst.found;
NSNotificationCenter.DefaultCenter.PostNotificationName(EventConst.setupPosition, null);
NSNotificationCenter.DefaultCenter.PostNotificationName(EventConst.centerCurrentLocation, null);
});
return(true);
}
return(false);
}
public MapPainter(float[,] _elevation, float _seaLevel)
{
nodelist = new List <Node>();
elevation = _elevation;
seaLevel = _seaLevel;
xDim = _elevation.GetLength(0);
yDim = _elevation.GetLength(1);
Node[,] nodes = new Node[xDim, yDim];
for (int x = 0; x < xDim; x++)
{
for (int y = 0; y < yDim; y++)
{
nodes[x, y] = new Node(x, y);
}
}
for (int x = 0; x < xDim; x++)
{
for (int y = 0; y < yDim; y++)
{
Node n = nodes[x, y];
n.Visited = false;
MapLoc l = new MapLoc(x, y);
Dictionary <MapLoc, float> d = MapUtil.GetValidNeighbors(_elevation, l);
foreach (KeyValuePair <MapLoc, float> kvp in d)
{
if ((_elevation[x, y] > _seaLevel && _elevation[kvp.Key.x, kvp.Key.y] > _seaLevel) ||
(_elevation[x, y] < _seaLevel && _elevation[kvp.Key.x, kvp.Key.y] < _seaLevel))
{
n.neighborWeights[nodes[kvp.Key.x, kvp.Key.y]] = MapUtil.Distance(kvp.Key, l);
n.neighbors.Add(nodes[kvp.Key.x, kvp.Key.y]);
}
}
nodelist.Add(n);
nodedict[n.loc] = n;
}
}
Paint();
}
private void AddPath(MapLoc origin, MapLoc destination, bool addBetweenPaths = false)
{
float dP = 0f;
List <Node> shortestPath = new List <Node>();
Node thisNode = nodeDict[destination];
shortestPath.Add(thisNode);
while (!thisNode.loc.Equals(origin))
{
dP += thisNode.neighborWeights[thisNode.NearestTo[origin]];
thisNode = thisNode.NearestTo[origin];
shortestPath.Add(thisNode);
}
shortestPath.Reverse();
float dE = MapUtil.Distance(origin, destination);
Path p = new Path(origin, destination, shortestPath, dP, dE);
PathDict[new PathOD(origin, destination)] = p;
if (addBetweenPaths)
{
List <PathOD> betweenPaths = new List <PathOD>();
int iWindow = shortestPath.Count - 2;
while (iWindow > 0)
{
for (int i = 0; i < (shortestPath.Count - iWindow); i++)
{
PathOD betweenPath = new PathOD(shortestPath[i].loc, shortestPath[i + iWindow].loc);
betweenPaths.Add(betweenPath);
}
iWindow--;
}
foreach (PathOD pOD in betweenPaths)
{
AddPath(pOD.origin, pOD.destination, false);
}
}
}