public void ConnectSuperNode(Node from, SuperNode superNode, float dist)
{
var directChild = dist <= superNode.GridSize;
if (SuperNodes.ContainsKey(superNode))
{
if (SuperNodes[superNode].Length <= dist)
{
return;
}
}
else
{
if (directChild)
{
superNode.ChildNodes.Add(this);
}
}
SuperNodes[superNode] = new SuperNodeConnection(from, superNode, dist);
if (directChild)
{
foreach (var snode in SuperNodes.Keys)
{
if (snode == superNode || SuperNodes[snode].Length > superNode.GridSize)
{
continue;
}
snode.ConnectTo(superNode, dist, from);
}
}
}
public bool RecalculateSuperNodePathAfterDelete(SuperNode superNode, VoxelGraph graph)
{
SuperNodeConnection old = null;
if (SuperNodes.ContainsKey(superNode))
{
old = SuperNodes[superNode];
SuperNodes.Remove(superNode);
}
var neighbours = GetNeighbours().Where(n => n.To.SuperNodes.ContainsKey(superNode)).ToList();
var queue = new PriorityQueue <Edge>();
foreach (var neighbour in neighbours)
{
queue.Enqueue(neighbour, neighbour.To.SuperNodes[superNode].Length + neighbour.Length);
}
while (!queue.IsEmpty())
{
var n = queue.Dequeue();
if (!n.To.SuperNodes.ContainsKey(superNode))
{
continue;
}
if (Equals(n.To.SuperNodes[superNode].To))
{
if (n.To.RecalculateSuperNodePathAfterDelete(superNode, graph))
{
queue.Enqueue(n, n.To.SuperNodes[superNode].Length + n.Length);
}
}
else
{
var dist = n.Length + n.To.SuperNodes[superNode].Length;
if (old != null && old.To.Equals(n.To) && old.Length.Equals(dist))
{
ConnectSuperNode(n.To, superNode, dist);
}
else
{
ConnectSuperNode(n.To, superNode, dist);
graph.MarkDirty(this);
foreach (var neighbour in GetNeighbours().Where(ne => ne.To.SuperNodes.ContainsKey(superNode) && Equals(ne.To.SuperNodes[superNode].To)))
{
neighbour.To.RecalculateSuperNodePathAfterDeleteRec(superNode, graph);
}
}
return(true);
}
}
graph.MarkDirty(this);
superNode.RemoveChildNode(this);
return(false);
}