private void GetObstaclesPerLayer(int currentLayer, ObstacleCollection obstacles)
{
var rawObstacles = GetBlockObstacles(currentLayer);
var nodes = new LineNodeDictionary();
nodes.CreateLineNodes(rawObstacles);
while (nodes.Count > 0)
{
var currentFigure = new RawFigure(_map, currentLayer, nodes);
nodes.Purge(currentFigure.Lines);
currentFigure.Optimize();
currentFigure.Tokenize(obstacles);
}
nodes.Clear();
nodes.CreateLineNodes(rawObstacles, true);
while (nodes.Count > 0)
{
var currentFigure = new SlopeFigure(_map, currentLayer, nodes);
nodes.Purge(currentFigure.Lines);
currentFigure.Optimize();
currentFigure.Tokenize(obstacles);
}
}
protected List<LineSegment> WalkFigure(LineNodeDictionary nodes)
{
var lines = new List<LineSegment>();
var visitedItems = new List<Vector2>();
var nodesToVisit = new Stack<LineSegment>();
var origin = nodes.Keys.First();
var lineSegment = new LineSegment(origin, origin);
nodesToVisit.Push(lineSegment);
while (nodesToVisit.Count > 0)
{
var currentItem = nodesToVisit.Pop();
var connectedNodes = GetConnectedNodes(currentItem.End, nodes);
if (connectedNodes.Count == 1) //only the item I come from
ForlornStartNodes.Add(currentItem.End);
if (connectedNodes.Count > 2 && !SwitchPoints.ContainsKey(currentItem.End))
SwitchPoints.Add(currentItem.End, new SwitchPoint(new List<Vector2>(connectedNodes)));
connectedNodes.Remove(currentItem.Start);
foreach (var connectedNode in connectedNodes)
{
if (visitedItems.Contains(connectedNode))
continue;
lineSegment = AddLine(currentItem.End, connectedNode, lines);
nodesToVisit.Push(lineSegment);
}
visitedItems.Add(currentItem.End);
}
if (GetConnectedNodes(origin, nodes).Count <= 2)
SwitchPoints.Remove(origin); //remove start point, it's not really a switch point
return lines;
}
public RawFigure(Map.Map map, int layer, LineNodeDictionary nodes)
: base(map, layer)
{
PrepareBasePriorityTable();
Nodes = new LineNodeDictionary();
Lines = WalkFigure(nodes);
}
public SlopeFigure(Map.Map map, int layer, LineNodeDictionary nodes)
: base(map, layer, nodes)
{
}