public int FindTile(Coordinates c, int hint = -1)
{
int[] indices;
if (hint < 0)
{
indices = Enumerable.Range(0, Tiles.Length).ToArray();
}
else
{
var tmp = Tiles[hint].Neighbours;
indices = new int[1 + tmp.Length];
indices[0] = hint;
for (int i = 0; i < tmp.Length; i++)
{
indices[i + 1] = tmp[i];
}
}
int bestidx = -1;
double bestdist = double.MaxValue;
foreach (int i in indices)
{
double dist = Coordinates.Distance(c, Tiles[i].Center);
if (dist < bestdist)
{
bestidx = i;
bestdist = dist;
}
}
return(bestidx);
}
void UpdatePositionWorker()
{
lock (this)
{
if (NextPosition == LastUpdatedPosition)
{
return;
}
LastUpdatedPosition = NextPosition;
}
data.RemoveOldElements(x => Coordinates.Distance(LastUpdatedPosition, Tiles[x].Center));
#if false
foreach (var i in FindTiles(LastUpdatedPosition, 0.05))
{
data[i].Load(TileData.Computationlevel.MAX);
}
#else
int tile = FindTile(LastUpdatedPosition);
if (tile == LastTile)
{
return;
}
LastTile = tile;
data[LastTile].Load(TileData.ComputationLevel.MAX);
#endif
}
public List <int> FindTiles(Coordinates c, double distance, int hint = -1)
{
/*List<int> ret = new List<int>();
* ret.Add(FindTile(c, hint));
*
* while(true)
* {
* List<int> newtiles = ret.SelectMany(x => Tiles[x].Neighbours).Where(x => Coordinates.Distance(Tiles[x].Center, c) < distance && !ret.Contains(x)).ToList();
* if (newtiles.Count == 0)
* return ret;
* ret.AddRange(newtiles);
* }*/
return(Enumerable.Range(0, Tiles.Length).Where(x => Coordinates.Distance(Tiles[x].Center, c) < distance).ToList());
}
public Bezier(List <Coordinates> coordinates, double radius)
{
if (coordinates.Count < 2)
{
throw new ArgumentException("At least two coordinates are required", "coordinates");
}
coord = coordinates;
this.radius = radius;
length = 0;
for (int i = 1, n = coord.Count; i < n; i++)
{
length += Coordinates.Distance(coord[i - 1], coord[i]);
}
ComputeCnp();
}
public double Heuristic(int index1, int index2)
{
return(Coordinates.Distance(Tiles[index1].Center, Tiles[index2].Center));
}
public double Cost(int index1, int index2)
{
return(Coordinates.Distance(Tiles[index1].Center, Tiles[index2].Center)); // FIXME
}