private void considerForGVD(GridCell cell)
{
foreach (GridCell adj in grid.Get8Neighbors(cell))
{
if (obst[cell.C, cell.R] != obst[adj.C, adj.R])
{
tie[cell.C, cell.R] = adj;
ties.Add(cell);
}
}
}
private void updateDistanceMap()
{
while (!open.IsEmpty)
{
GridCell s = open.DeleteMin().Position;
if (!toProcess[s.C, s.R])
{
continue;
}
if (toRaise[s.C, s.R])
{
// raise(s)
foreach (GridCell n in grid.Get8Neighbors(s))
{
if (obst[n.C, n.R] != GridCell.Unknown && !toRaise[n.C, n.R])
{
if (!isOcc(obst[n.C, n.R]))
{
dist[n.C, n.R] = int.MaxValue;
distActual[n.C, n.R] = float.PositiveInfinity;
obst[n.C, n.R] = GridCell.Unknown;
toRaise[n.C, n.R] = true;
}
open.Add(new GridCellValue(n, dist[n.C, n.R]));
toProcess[n.C, n.R] = true;
}
}
toRaise[s.C, s.R] = false;
}
else if (isOcc(obst[s.C, s.R]))
{
voro[s.C, s.R] = false;
unsetVoro(s);
toProcess[s.C, s.R] = false;
// lower(s)
foreach (GridCell n in grid.Get8Neighbors(s))
{
if (!toRaise[n.C, n.R])
{
int d = distanceSquared(obst[s.C, s.R], n);
if (d < dist[n.C, n.R])
{
dist[n.C, n.R] = d;
distActual[n.C, n.R] = (float)Math.Sqrt(d);
obst[n.C, n.R] = obst[s.C, s.R];
open.Add(new GridCellValue(n, d));
toProcess[n.C, n.R] = true;
}
else
{
chkVoro(s, n);
}
}
}
}
}
}
