public Vertex2D GetExplorationNeighbour(Vertex2D current)
{
var currDist = minWaypointDistance(current);
var finder = new PathFinder2D <Vertex2D>
{
ConnectionProvider = new GridConnectionProvider()
{
Grid = provider.Grid, Heuristic = (a, b) => 0
},
StopCondition = n => minWaypointDistance(n) > WaypointDistance || Vector2.Distance(n.Position, current.Position) > 20
};
var path = finder.FindPath(current, new Vertex2D(new Vector2(4856984, 45684984)));
if (minWaypointDistance(current) > minWaypointDistance(path.Last()))
{
return(null);
}
if (path == null)
{
return(null);
}
return(path.Last());
//return provider.GetConnectedNodes(current).OrderBy(o => -minWaypointDistance(o)).FirstOrDefault();
}
private void processWaypoints()
{
foreach (Waypoint wp in TW.Data.GetChangesOfType <Waypoint>().Where(c => c.Change == ModelChange.Added).Select(c => c.ModelObject))
{
var start = provider.GetVertex(wp.Position);
foreach (Waypoint wpTo in getWaypoints())
{
if (wpTo == wp)
{
continue;
}
var goal = provider.GetVertex(wpTo.Position);
var finder = new PathFinder2D <Vertex2D> {
ConnectionProvider = provider
};
finder.StopCondition = n => finder.GetCurrentCost(n) > WaypointDistance * 2f;
var path = finder.FindPath(start, goal);
if (path == null)
{
continue;
}
if (path.Last() != goal)
{
continue;
}
var edge = new Waypoint.Edge {
Target = wpTo, Distance = finder.GetCurrentCost(path[path.Count - 2])
};
wp.Edges.Add(edge);
}
}
}