internal List <Point> GetPath(VisibilityVertex vs, VisibilityVertex vt,
bool shrinkDistances)
{
var pathPoints = new List <Point>();
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = true;
_visGraph.ClearPrevEdgesTable();
var router = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(_visGraph, vs, vt)
{
LengthMultiplier = 0.8,
LengthMultiplierForAStar = 0.3
};
var vpath = router.GetPath(shrinkDistances);
if (vpath == null)
{
Console.WriteLine("seeing a null path");
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
return(pathPoints);
}
var path = vpath.ToList();
for (int i = 0; i < path.Count(); i++)
{
pathPoints.Add(path[i].Point);
}
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
return(pathPoints);
}
internal MultipleSourceMultipleTargetsShortestPathOnVisibilityGraph(IEnumerable <VisibilityVertex> sourceVisVertices,
IEnumerable <VisibilityVertex> targetVisVertices, VisibilityGraph visibilityGraph)
{
_visGraph = visibilityGraph;
visibilityGraph.ClearPrevEdgesTable();
foreach (var v in visibilityGraph.Vertices())
{
v.Distance = Double.PositiveInfinity;
}
sources = sourceVisVertices;
targets = new Set <VisibilityVertex>(targetVisVertices);
}