public HierarchicalMap(ConcreteMap concreteMap, int clusterSize, int maxLevel)
{
ClusterSize = clusterSize;
MaxLevel = maxLevel;
SetType(concreteMap.TileType);
this.Height = concreteMap.Height;
this.Width = concreteMap.Width;
ConcreteNodeIdToAbstractNodeIdMap = new Dictionary <Id <ConcreteNode>, Id <AbstractNode> >();
Clusters = new List <Cluster>();
AbstractGraph = new AbstractGraph();
}
public Cluster(ConcreteMap concreteMap, Id <Cluster> id, int clusterX, int clusterY, Position origin, Size size)
{
SubConcreteMap = concreteMap.Slice(origin.X, origin.Y, size.Width, size.Height, concreteMap.Passability);
Id = id;
ClusterY = clusterY;
ClusterX = clusterX;
Origin = origin;
Size = size;
_distances = new Dictionary <Tuple <Id <AbstractNode>, Id <AbstractNode> >, int>();
_cachedPaths = new Dictionary <Tuple <Id <AbstractNode>, Id <AbstractNode> >, List <Id <ConcreteNode> > >();
_distanceCalculated = new Dictionary <Tuple <Id <AbstractNode>, Id <AbstractNode> >, bool>();
EntrancePoints = new List <EntrancePoint>();
}
// Create a new concreteMap as a copy of another concreteMap (just copying obstacles)
public ConcreteMap Slice(int horizOrigin, int vertOrigin, int width, int height, IPassability passability)
{
var slicedConcreteMap = new ConcreteMap(this.TileType, width, height, passability);
foreach (var slicedMapNode in slicedConcreteMap.Graph.Nodes)
{
var globalConcreteNode =
Graph.GetNode(GetNodeIdFromPos(horizOrigin + slicedMapNode.Info.Position.X,
vertOrigin + slicedMapNode.Info.Position.Y));
slicedMapNode.Info.IsObstacle = globalConcreteNode.Info.IsObstacle;
slicedMapNode.Info.Cost = globalConcreteNode.Info.Cost;
}
return(slicedConcreteMap);
}
