public static IDijkstraMap Dijkstra(IEnumerable <Point> start, IEnumerable <Point> end, int width, int height, Rectangle activeArea, double maxDist, ICostMap costMap, IEnumerable <Point> neighbors)
{
Stopwatch stopwatch = Stopwatch.StartNew();
bool hasEnds = end.Any();
HashSet <Point> ends = new HashSet <Point>(end);
FibonacciHeap <DijkstraTile, double> heap = new FibonacciHeap <DijkstraTile, double>(0);
if (activeArea.X < 0)
{
activeArea.X = 0;
}
if (activeArea.Y < 0)
{
activeArea.Y = 0;
}
if (activeArea.Width > width - 1)
{
activeArea.Width = width - 1;
}
if (activeArea.Height > height - 1)
{
activeArea.Height = height - 1;
}
IDijkstraMap dijkstraMap = new DijkstraMap(width, height, heap, start);
int i = 0;
while (!heap.IsEmpty() && (!hasEnds || ends.Count > 0))
{
var node = heap.RemoveMin();
var dTile = node.Data;
if (dTile.Distance >= maxDist)
{
break;
}
if (ends.Contains(dTile.Tile))
{
ends.Remove(dTile.Tile);
}
i++;
foreach (var neighbor in neighbors.Select(o => dTile.Tile + o))
{
if (!activeArea.Contains(neighbor.X, neighbor.Y) /*neighbor.X < 0 || neighbor.Y < 0 || neighbor.X >= width || neighbor.Y >= height*/)
{
continue;
}
var nodeNeighbor = dijkstraMap.GetNode(neighbor.X, neighbor.Y);
var dNeighbor = nodeNeighbor.Data;
double newDist = dTile.Distance + costMap.GetCost(dNeighbor.Tile);
if (newDist < dNeighbor.Distance)
{
dNeighbor.Distance = newDist;
dNeighbor.Previous = dTile;
dNeighbor.MoveDistance = dTile.MoveDistance + 1;
heap.DecreaseKey(nodeNeighbor, dNeighbor.Distance);
}
}
}
Console.WriteLine($"Dijkstra ({i} iterations) took: {stopwatch.ElapsedTicks} ({(float)stopwatch.ElapsedTicks / i})");
return(dijkstraMap);
}
public static IDijkstraMap Dijkstra(Point start, Point end, int width, int height, Rectangle activeArea, double maxDist, ICostMap costMap, IEnumerable <Point> neighbors)
{
return(Dijkstra(new[] { start }, new[] { end }, width, height, activeArea, maxDist, costMap, neighbors));
}