public int IndexOf(Topology.Vertex item)
{
if (!_vertexEdgePath.isComplete)
{
return(-1);
}
var itemIndex = item.index;
if (itemIndex == _vertexEdgePath._sourceElementIndex)
{
return(0);
}
var length = _vertexEdgePath._length;
var edgeIndices = _vertexEdgePath._edgeIndices;
var edgeData = _vertexEdgePath._topology.edgeData;
for (int i = 0; i < length; ++i)
{
if (edgeData[edgeIndices[i]].vertex == itemIndex)
{
return(i + 1);
}
}
return(-1);
}
private static void ExportVertexToSVG(System.IO.TextWriter writer, Topology.Vertex vertex, Topology.FaceEdge edge, Func <Vector3, Vector2> flatten, IVertexAttribute <Vector3> vertexPositions, Vector2 transformedVertexDotRadius, string vertexFormat, string vertexIndexFormat, SVGStyle style, string additionalClasses)
{
var p = flatten(vertexPositions[edge]);
writer.WriteLine(vertexFormat, p.x, p.y, transformedVertexDotRadius.x, transformedVertexDotRadius.y, additionalClasses);
if (style.showVertexIndices)
{
writer.WriteLine(vertexIndexFormat, p.x, p.y, vertex.index, additionalClasses);
}
}
/// <summary>
/// Finds the shortest or path from the specified source vertex to the specified target vertex,
/// using the A* algorithm and the supplied vertex positions to measure standard Euclidean
/// distance between vertices and over vertex edges.
/// </summary>
/// <param name="source">The source vertex from which the path should start.</param>
/// <param name="target">The target vertex that the path should attempt to reach.</param>
/// <param name="vertexPositions">The three dimensional positions of each face in the world.</param>
/// <param name="path">An optional existing path created by an earlier call to one of the <seealso cref="O:MakeIt.Tile.PathFinder.FindPath"/> functions, which will be overwritten with the new path data.</param>
/// <returns>A vertex edge path instance describing the path found from source to target, or an incomplete object if no path was found.</returns>
/// <remarks><para>The optional <paramref name="path"/> parameter is useful for reducing allocation activity
/// and pressure on the garbage collector. Reusing an existing path object will not require an additional
/// allocation to store the path as long as the new path fits inside the capacity already available in the
/// existing path.</para></remarks>
public IVertexEdgePath FindEuclideanPath(Topology.Vertex source, Topology.Vertex target, IVertexAttribute <Vector3> vertexPositions, IVertexEdgePath path = null)
{
return(FindPath(source, target,
(Topology.Vertex s, Topology.Vertex t, int pathLength) =>
{
return (vertexPositions[s] - vertexPositions[t]).magnitude;
},
(Topology.VertexEdge edge, int pathLength) =>
{
return (vertexPositions[edge.nearVertex] - vertexPositions[edge.farVertex]).magnitude;
},
path));
}
/// <summary>
/// Finds the shortest or path from the specified source vertex to the specified target vertex,
/// using the A* algorithm and the supplied vertex positions to measure spherical arc distance
/// between vertices and over vertex edges.
/// </summary>
/// <param name="source">The source vertex from which the path should start.</param>
/// <param name="target">The target vertex that the path should attempt to reach.</param>
/// <param name="surface">The surface describing the overall shape of the spherical manifold.</param>
/// <param name="vertexPositions">The three dimensional positions of each face in the world.</param>
/// <param name="path">An optional existing path created by an earlier call to one of the <seealso cref="O:MakeIt.Tile.PathFinder.FindPath"/> functions, which will be overwritten with the new path data.</param>
/// <returns>A vertex edge path instance describing the path found from source to target, or an incomplete object if no path was found.</returns>
/// <remarks><para>The optional <paramref name="path"/> parameter is useful for reducing allocation activity
/// and pressure on the garbage collector. Reusing an existing path object will not require an additional
/// allocation to store the path as long as the new path fits inside the capacity already available in the
/// existing path.</para></remarks>
public IVertexEdgePath FindSphericalEuclideanPath(Topology.Vertex source, Topology.Vertex target, SphericalSurface surface, IVertexAttribute <Vector3> vertexPositions, IVertexEdgePath path = null)
{
return(FindPath(source, target,
(Topology.Vertex s, Topology.Vertex t, int pathLength) =>
{
var sourcePosition = vertexPositions[s];
var targetPosition = vertexPositions[t];
return Geometry.SphericalArcLength(sourcePosition, targetPosition, surface.radius);
},
(Topology.VertexEdge edge, int pathLength) =>
{
var sourcePosition = vertexPositions[edge.nearVertex];
var targetPosition = vertexPositions[edge.farVertex];
return Geometry.SphericalArcLength(sourcePosition, targetPosition, surface.radius);
},
path));
}
public void CopyTo(Topology.Vertex[] array, int arrayIndex)
{
if (!_vertexEdgePath.isComplete)
{
return;
}
var topology = _vertexEdgePath._topology;
array[arrayIndex++] = new Topology.Vertex(topology, _vertexEdgePath._sourceElementIndex);
var length = _vertexEdgePath._length;
var edgeIndices = _vertexEdgePath._edgeIndices;
var edgeData = _vertexEdgePath._topology.edgeData;
for (int i = 0; i < length; ++i)
{
array[arrayIndex++] = new Topology.Vertex(topology, edgeData[edgeIndices[i]].vertex);
}
}
/// <summary>
/// Finds the shortest or otherwise least costly path from the specified source vertex to
/// the specified target vertex, using the A* algorithm and the supplied heuristic and cost
/// delegates to measure costs between vertices and over vertex edges.
/// </summary>
/// <param name="source">The source vertex from which the path should start.</param>
/// <param name="target">The target vertex that the path should attempt to reach.</param>
/// <param name="costHeuristic">Delegate for estimating the cost of the path from the specified source vertex to the specified target vertex.</param>
/// <param name="cost">Delegate for determining the actual cost of the path along the specified vertex edge, from its near vertex to its far vertex.</param>
/// <param name="path">An optional existing path created by an earlier call to one of the <seealso cref="O:MakeIt.Tile.PathFinder.FindPath"/> functions, which will be overwritten with the new path data.</param>
/// <returns>A vertex edge path instance describing the path found from source to target, or an incomplete object if no path was found.</returns>
/// <remarks><para>The optional <paramref name="path"/> parameter is useful for reducing allocation activity
/// and pressure on the garbage collector. Reusing an existing path object will not require an additional
/// allocation to store the path as long as the new path fits inside the capacity already available in the
/// existing path.</para></remarks>
public IVertexEdgePath FindPath(Topology.Vertex source, Topology.Vertex target, VertexCostHeuristicDelegate costHeuristic, VertexCostDelegate cost, IVertexEdgePath path = null)
{
if (!source)
{
throw new ArgumentException("The source vertex must be a valid vertex.", "source");
}
if (!target)
{
throw new ArgumentException("The target vertex must be a valid vertex.", "target");
}
if (!source.topology != target.topology)
{
throw new ArgumentException("The target vertex must belong to the same topology as the source vertex.", "target");
}
var concretePath = path as VertexEdgePath;
if (concretePath == null)
{
if (path != null)
{
throw new ArgumentException("The provided pre-allocated path was not an instance of the necessary underlying type recognized by this path finder.", "path");
}
concretePath = new VertexEdgePath();
}
var topology = source.topology;
if (source == target)
{
return(concretePath.Rebuild(source, target));
}
if (_queue == null)
{
_queue = new DelegateOrderedPriorityQueue <Node>(Node.AreOrdered, Mathf.CeilToInt(Mathf.Sqrt(source.topology.vertices.Count)));
_openSet = new Dictionary <int, Node>();
_closedSet = new Dictionary <int, Node>();
}
else
{
_queue.Clear();
_openSet.Clear();
_closedSet.Clear();
}
_queue.Push(new Node(0f, 0f, costHeuristic(source, target, 0), source.index, -1, -1, 0));
_openSet.Add(source.index, _queue.front);
while (_queue.Count > 0)
{
var node = _queue.front;
_queue.Pop();
if (node._elementIndex == target.index)
{
return(concretePath.Rebuild(source, target, node, _closedSet));
}
_closedSet.Add(node._elementIndex, node);
var vertex = new Topology.Vertex(topology, node._elementIndex);
foreach (var edge in vertex.edges)
{
if (_closedSet.ContainsKey(edge.vertex.index))
{
continue;
}
var g = node._g + cost(edge, node._length);
if (!float.IsPositiveInfinity(g))
{
Node neighborNode;
if (!_openSet.TryGetValue(edge.vertex.index, out neighborNode))
{
var h = costHeuristic(edge.vertex, target, node._length);
neighborNode = new Node(g + h, g, h, edge.vertex.index, edge.index, node._elementIndex, node._length + 1);
_queue.Push(neighborNode);
_openSet.Add(edge.vertex.index, neighborNode);
}
else if (g < neighborNode._g)
{
var h = costHeuristic(edge.vertex, target, node._length);
neighborNode = new Node(g + h, g, h, edge.vertex.index, edge.index, node._elementIndex, node._length + 1);
_openSet[edge.vertex.index] = neighborNode;
_queue.Reprioritize(neighborNode);
}
}
}
}
return(concretePath.Rebuild(source, target));
}
public VertexEdgePath Rebuild(Topology.Vertex source, Topology.Vertex target, Node lastNode, Dictionary <int, Node> closedSet)
{
Rebuild(source.topology, source.index, target.index, lastNode, closedSet);
return(this);
}
public VertexEdgePath Rebuild(Topology.Vertex source, Topology.Vertex target)
{
Rebuild(source.topology, source.index, target.index);
return(this);
}
public bool Remove(Topology.Vertex item)
{
throw new NotSupportedException();
}
public void Insert(int index, Topology.Vertex item)
{
throw new NotSupportedException();
}
public void Add(Topology.Vertex item)
{
throw new NotSupportedException();
}
public bool Contains(Topology.Vertex item)
{
return(IndexOf(item) != -1);
}
/// <inheritdoc/>
public abstract T this[Topology.Vertex v] { get; set; }
/// <summary>
/// Accesses the vertex attribute value in the array corresponding to the given vertex.
/// </summary>
/// <param name="v">The vertex whose attribute value is to be accessed.</param>
/// <returns>The vertex attribute value corresponding to the given vertex.</returns>
public T this[Topology.Vertex v]
{
get { return array[v.index]; }
set { array[v.index] = value; }
}
/// <inheritdoc/>
public override T this[Topology.Vertex v]
{
get { return constant; }
set { throw new NotSupportedException("Values of a constant vertex attribute cannot be changed."); }
}
/// <inheritdoc/>
public IntVector2 GetVertexIndex2D(Topology.Vertex vertex)
{
return(GetVertexIndex2D(vertex.index));
}
