public PathFinder(FloorGraph graph)
{
if (graph == null)
{
throw new Exception("Graph cannot be null");
}
mGraph = graph;
}
//This function finds a common node if there is one, otherwise it will return -1
private int findCommonNode(FloorGraph extGraph)
{
foreach (int key in fGraph.Nodes.Keys)
{
if (extGraph.Nodes.ContainsKey(key))
{
return(key);
}
}
return(-1);
}
//Adds all nodes from the external graph
private void fullExpand(FloorGraph extGraph)
{
//Add nodes
foreach (KeyValuePair <int, FloorGraphNode> pair in extGraph.Nodes)
{
List <int> incident = new List <int>();
foreach (int i in pair.Value.GetIncident)
{
incident.Add(i);
}
fGraph.AddNode(pair.Value.Id, incident, pair.Value.Exit, pair.Value.Certainty, pair.Value.Live);
}
//Add edges
foreach (KeyValuePair <int, FloorGraphEdge> pair in extGraph.Edges)
{
fGraph.AddEdge(pair.Value.Id, pair.Value.Room, pair.Value.GetOrigin, pair.Value.GetDestination, pair.Value.Certainty, pair.Value.Live);
}
}
//Use DFS to expand both mental maps
private void DFSExpand(FloorGraph extGraph, int commonNode)
{
//Start at common node, travel through the tree preferring lower EDGE id's
//Travel along the external graphs path, add nodes, edges and references to internal graph
//visited edges
List <int> visited = new List <int>();
//Set the highest certainty and liveness
if (fGraph.Nodes[commonNode].Certainty > extGraph.Nodes[commonNode].Certainty)
{
extGraph.Nodes[commonNode].Certainty = fGraph.Nodes[commonNode].Certainty;
extGraph.Nodes[commonNode].Live = fGraph.Nodes[commonNode].Live;
}
else
{
fGraph.Nodes[commonNode].Certainty = extGraph.Nodes[commonNode].Certainty;
fGraph.Nodes[commonNode].Live = extGraph.Nodes[commonNode].Live;
}
foreach (int e in extGraph.Nodes[commonNode].GetIncident)
{
//If edge has not been visited yet
if (!(visited.Contains(e)))
{
//Set edge to visited
visited.Add(e);
//If iNodes does not contain a refrence to the edge
if (!(fGraph.Nodes[commonNode].GetIncident.Contains(e)))
{
int destNode = extGraph.Edges[e].GetDestination;
//Add reference in commonnode
fGraph.Nodes[commonNode].GetIncident.Add(e);
//Copy edge to iEdges
extGraph.AddEdge(extGraph.Edges[e].Id, extGraph.Edges[e].Room, extGraph.Edges[e].GetOrigin, extGraph.Edges[e].GetDestination, extGraph.Edges[e].Certainty, extGraph.Edges[e].Live);
//Add destination node to iNodes
fGraph.AddNode(destNode, new List <int>(), extGraph.Nodes[destNode].Exit, extGraph.Nodes[destNode].Certainty, extGraph.Nodes[destNode].Live);
//Recurse on destination
DFSExpand(extGraph, destNode);
}
else
{
//set certainty and liveness
if (fGraph.Edges[e].Certainty > extGraph.Edges[e].Certainty)
{
extGraph.Edges[e].Certainty = fGraph.Edges[e].Certainty;
extGraph.Edges[e].Live = fGraph.Edges[e].Live;
}
else
{
fGraph.Edges[e].Certainty = extGraph.Edges[e].Certainty;
fGraph.Edges[e].Live = extGraph.Edges[e].Live;
}
//Recurse on destination
DFSExpand(extGraph, fGraph.Edges[e].GetDestination);
}
}
}
}
void Awake()
{
fGraph = new FloorGraph();
Color32[,] grid = createGrid();
createGraph(grid);
}
