internal void AssertEdgesPresentAndPassable(List<Point> path) {
var vs = VisGraph.FindVertex(path[0]);
Debug.Assert(vs != null);
var vt = VisGraph.FindVertex(path[path.Count - 2]);
Debug.Assert(vt != null);
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = true;
var router = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(_visGraph, vs, vt) {
LengthMultiplier = 0.8,
LengthMultiplierForAStar = 0.0
};
List<VisibilityEdge> pathEdges = new List<VisibilityEdge>();
for (int i = 0; i < path.Count - 1; i++)
{
var edge = FindEdge(path[i], path[i + 1]);
Debug.Assert(edge != null);
pathEdges.Add(edge);
}
router.AssertEdgesPassable(pathEdges);
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
}
Polyline GetShortestPolyline() {
var pathCalc = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(_visGraph, this.sourceVisibilityVertex,
TargetVisibilityVertex);
var path = pathCalc.GetPath(false);
var ret = new Polyline();
foreach (var v in path)
ret.AddPoint(v.Point);
return RemoveCollinearPoint(ret);
}
internal List<Point> GetPath(VisibilityVertex vs, VisibilityVertex vt,
bool shrinkDistances) {
var pathPoints = new List<Point>();
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = true;
_visGraph.ClearPrevEdgesTable();
var router = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(_visGraph, vs, vt)
{
LengthMultiplier = 0.8,
LengthMultiplierForAStar = 0.3
};
var vpath = router.GetPath(shrinkDistances);
if (vpath == null) {
Console.WriteLine("seeing a null path");
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
return pathPoints;
}
var path = vpath.ToList();
for (int i = 0; i < path.Count(); i++)
pathPoints.Add(path[i].Point);
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
return pathPoints;
}
//internal Point TargetPoint {
// get {
// CurvePort tp = this.TargetPort as CurvePort;
// if (tp != null)
// return this.Target.BoundaryCurve[tp.Parameter];
// else
// return (this.TargetPort as FloatingPort).Location;
// }
//}
//internal Point SourcePoint {
// get {
// CurvePort sp = this.SourcePort as CurvePort;
// if (sp != null)
// return this.Source.BoundaryCurve[sp.Parameter];
// else
// return (this.SourcePort as FloatingPort).Location;
// }
//}
Polyline GetShortestPolyline(VisibilityVertex sourceVisVertex, VisibilityVertex _targetVisVertex) {
CleanTheGraphForShortestPath();
var pathCalc = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(this.visibilityGraph, sourceVisVertex, _targetVisVertex);
IEnumerable<VisibilityVertex> path = pathCalc.GetPath(UseEdgeLengthMultiplier);
if (path == null) {
//ShowIsPassable(_sourceVisibilityVertex, _targetVisVertex);
return null;
}
Debug.Assert(path.First() == sourceVisVertex && path.Last() == _targetVisVertex);
var ret = new Polyline();
foreach (VisibilityVertex v in path)
ret.AddPoint(v.Point);
return RemoveCollinearVertices(ret);
}