public PathPlanningGraph(int planningLength)
{
_planningLength = planningLength;
_timeLevels = new LevelPartite[_planningLength];
for (int t = 0; t < _planningLength; t++)
{
_timeLevels[t] = new LevelPartite(t);
}
}
public PathPlanningGraph GetPathPlanningGraph(HexaPath path, int radius, HexaPos startPos)
{
int planningLength = path.Length;
PathPlanningGraph planningGraph = new PathPlanningGraph(planningLength);
// create vertex
for (int t = 0; t < planningLength; t++)
{
HexaPos pivot = path[t];
List <HexaPos> hexes = _topologicalGraph.GetMap().GetHexes(pivot.X, pivot.Y, radius, true);
List <HexaPos> .Enumerator e = hexes.GetEnumerator();
while (e.MoveNext())
{
Hex currentHex = _topologicalGraph.GetMap().GetHex(e.Current.X, e.Current.Y);
if (false == _topologicalGraph.GetMap().MapState.IsObstacle(currentHex))
{
PlanningNode node = new PlanningNode(e.Current);
planningGraph.AddPlanningNode(node, t);
}
}
}
// create edge
for (int t = 0; t < planningLength - 1; t++)
{
LevelPartite currentPartite = planningGraph[t];
LevelPartite nextPartite = planningGraph[t + 1];
List <PlanningNode> .Enumerator e1 = currentPartite.mNodes.GetEnumerator();
List <PlanningNode> .Enumerator e2 = nextPartite.mNodes.GetEnumerator();
while (e1.MoveNext())
{
while (e2.MoveNext())
{
if (_topologicalGraph.IsConnected(e1.Current.pos, e2.Current.pos))
{
currentPartite.Connect(e1.Current, e2.Current);
}
}
e2 = nextPartite.mNodes.GetEnumerator();
}
}
return(planningGraph);
}
public PathPlanningGraph GetPathPlanningGraph(HexaPos startPos, int planningLength)
{
PathPlanningGraph planningGraph = new PathPlanningGraph(planningLength);
List <HexaPos> currentSet = new List <HexaPos>();
List <HexaPos> nextSet = new List <HexaPos>();
currentSet.Add(startPos);
PlanningNode start_node = new PlanningNode(startPos);
planningGraph.AddPlanningNode(start_node, 0);
// create vertex
for (int t = 1; t < planningLength; t++)
{
List <HexaPos> .Enumerator e1 = currentSet.GetEnumerator();
nextSet.Clear();
while (e1.MoveNext())
{
HexaPos currentPos = e1.Current;
List <HexaPos> hexes = _topologicalGraph.GetMap().GetHexes(currentPos.X, currentPos.Y, 1, true);
List <HexaPos> .Enumerator e = hexes.GetEnumerator();
while (e.MoveNext())
{
Hex currentHex = _topologicalGraph.GetMap().GetHex(e.Current.X, e.Current.Y);
if (false == _topologicalGraph.GetMap().MapState.IsObstacle(currentHex))
{
if (false == planningGraph[t].hasNode(e.Current.X, e.Current.Y))
{
PlanningNode node = new PlanningNode(e.Current);
planningGraph.AddPlanningNode(node, t);
nextSet.Add(new HexaPos(e.Current.X, e.Current.Y));
}
}
}
}
currentSet.Clear();
foreach (HexaPos pos in nextSet)
{
currentSet.Add(pos);
}
}
// create edge
for (int t = 0; t < planningLength - 1; t++)
{
LevelPartite currentPartite = planningGraph[t];
LevelPartite nextPartite = planningGraph[t + 1];
List <PlanningNode> .Enumerator e1 = currentPartite.mNodes.GetEnumerator();
List <PlanningNode> .Enumerator e2 = nextPartite.mNodes.GetEnumerator();
while (e1.MoveNext())
{
while (e2.MoveNext())
{
if (_topologicalGraph.IsConnected(e1.Current.pos, e2.Current.pos))
{
currentPartite.Connect(e1.Current, e2.Current);
}
}
e2 = nextPartite.mNodes.GetEnumerator();
}
}
return(planningGraph);
}
