public static void Main(string[] args)
{
// Prepare the abstract graph beforehand
IPassability passability = new FakePassability(Width, Height);
var tiling = TilingFactory.CreateTiling(Width, Height, passability);
var wizard = new AbstractMapFactory();
wizard.CreateHierarchicalMap(tiling, ClusterSize, MaxLevel, EntranceStyle.END_ENTRANCE);
var absTiling = wizard.HierarchicalMap;
var sw = Stopwatch.StartNew();
var path1 = RegularSearch(tiling);
var elapsed = sw.ElapsedMilliseconds;
Console.WriteLine("Regular search: " + elapsed + " ms");
Console.WriteLine($"{path1.Count} path nodes");
PrintFormatted(tiling, absTiling, ClusterSize, path1);
Console.WriteLine();
Console.WriteLine();
Console.WriteLine();
sw = Stopwatch.StartNew();
var path2 = HierarchicalSearch(absTiling, MaxLevel, tiling);
elapsed = sw.ElapsedMilliseconds;
Console.WriteLine("Hierachical search: " + elapsed + " ms");
Console.WriteLine($"{path2.Count} path nodes");
PrintFormatted(tiling, absTiling, ClusterSize, path2);
Console.WriteLine();
Console.WriteLine();
Console.WriteLine();
Console.WriteLine("Press any key to quit...");
Console.ReadKey();
}
private static List<Position> HierarchicalSearch(HierarchicalMap hierarchicalMap, int maxLevel, ConcreteMap concreteMap)
{
// Hierarchical pathfinding
var factory = new AbstractMapFactory();
var startAbsNode = factory.InsertAbstractNode(hierarchicalMap, StartPosition, 0);
var targetAbsNode = factory.InsertAbstractNode(hierarchicalMap, EndPosition, 1);
var maxPathsToRefine = int.MaxValue;
var hierarchicalSearch = new HierarchicalSearch();
var abstractPath = hierarchicalSearch.DoHierarchicalSearch(hierarchicalMap, startAbsNode, targetAbsNode, maxLevel, maxPathsToRefine);
var path = hierarchicalSearch.AbstractPathToLowLevelPath(hierarchicalMap, abstractPath, hierarchicalMap.Width, maxPathsToRefine);
factory.RemoveAbstractNode(hierarchicalMap, targetAbsNode, 1);
factory.RemoveAbstractNode(hierarchicalMap, startAbsNode, 0);
//var smoother = new SmoothWizard(concreteMap, path);
//path = smoother.SmoothPath();
return path.Select(p => concreteMap.Graph.GetNodeInfo(p.Id).Position).ToList();
//return path.Select(n => n.Level == 0 ? concreteMap.Graph.GetNodeInfo(n.Id).Position : hierarchicalMap.AbstractGraph.GetNodeInfo(n.Id).Position).ToList();
}
