// insert a new node, such as start or target, to the abstract graph and
// returns the id of the newly created node in the abstract graph
// x and y are the positions where I want to put the node
private int InsertStal(HierarchicalMap map, int nodeId, Position pos, int start)
{
// If the node already existed (for instance, it was the an entrance point already
// existing in the graph, we need to keep track of the previous status in order
// to be able to restore it once we delete this STAL
if (map.AbsNodeIds[nodeId] != Constants.NO_NODE)
{
m_stalLevel[start] = map.AbstractGraph.GetNodeInfo(map.AbsNodeIds[nodeId]).Level;
m_stalEdges[start] = map.GetNodeEdges(nodeId);
m_stalUsed[start] = true;
return map.AbsNodeIds[nodeId];
}
m_stalUsed[start] = false;
var cluster = map.FindClusterForPosition(pos);
// create global entrance
var absNodeId = map.NrNodes;
var localEntranceIdx = cluster.AddEntrance(absNodeId, new Position(pos.X - cluster.Origin.X, pos.Y - cluster.Origin.Y));
cluster.UpdatePaths(localEntranceIdx);
map.AbsNodeIds[nodeId] = absNodeId;
var info = new AbsTilingNodeInfo(
absNodeId,
1,
cluster.Id,
pos,
nodeId,
localEntranceIdx);
map.AbstractGraph.AddNode(absNodeId, info);
// add new edges to the abstract graph
for (var k = 0; k < cluster.GetNrEntrances() - 1; k++)
{
if (cluster.AreConnected(localEntranceIdx, k))
{
map.AddEdge(
cluster.GetGlobalAbsNodeId(k),
cluster.GetGlobalAbsNodeId(localEntranceIdx),
cluster.GetDistance(localEntranceIdx, k));
map.AddEdge(
cluster.GetGlobalAbsNodeId(localEntranceIdx),
cluster.GetGlobalAbsNodeId(k),
cluster.GetDistance(k, localEntranceIdx));
}
}
return absNodeId;
}
/// <summary>
/// Create the asbtract nodes of this graph (composed by the centers of
/// the entrances between clusters)
/// </summary>
private Dictionary<int, AbsTilingNodeInfo> GenerateAbstractNodes(List<Entrance> entrances, List<Cluster> clusters)
{
var abstractNodeId = 0;
var absNodes = new Dictionary<int, AbsTilingNodeInfo>();
foreach (var entrance in entrances)
{
var cluster1 = clusters[entrance.Cluster1Id];
var cluster2 = clusters[entrance.Cluster2Id];
// Determine the level of this entrance. It is given
// by its orientation and its coordinates
int level;
switch (entrance.Orientation)
{
case Orientation.HORIZONTAL:
level = DetermineLevel(entrance.Coord1.Y);
break;
case Orientation.VERTICAL:
level = DetermineLevel(entrance.Coord1.X);
break;
default:
level = -1;
break;
}
// use absNodes as a local var to check quickly if a node with the same centerId
// has been created before
AbsTilingNodeInfo absNode;
if (!absNodes.TryGetValue(entrance.Coord1Id, out absNode))
{
var localEntranceIdx = cluster1.AddEntrance(
abstractNodeId,
new Position(entrance.Coord1.X - cluster1.Origin.X, entrance.Coord1.Y - cluster1.Origin.Y));
var node = new AbsTilingNodeInfo(
abstractNodeId,
level,
entrance.Cluster1Id,
new Position(entrance.Coord1.X, entrance.Coord1.Y),
entrance.Coord1Id,
localEntranceIdx);
absNodes[entrance.Coord1Id] = node;
abstractNodeId++;
}
else
{
if (level > absNode.Level)
absNode.Level = level;
}
if (!absNodes.TryGetValue(entrance.Coord2Id, out absNode))
{
var localEntranceIdx = cluster2.AddEntrance(
abstractNodeId,
new Position(entrance.Coord2.X - cluster2.Origin.X, entrance.Coord2.Y - cluster2.Origin.Y));
var node = new AbsTilingNodeInfo(
abstractNodeId,
level,
entrance.Cluster2Id,
new Position(entrance.Coord2.X, entrance.Coord2.Y),
entrance.Coord2Id,
localEntranceIdx);
absNodes[entrance.Coord2Id] = node;
abstractNodeId++;
}
else
{
if (level > absNode.Level)
absNode.Level = level;
}
}
return absNodes;
}
