public FollowPathHeuristic(
IFilteredIndexPicker filteredIndexPicker,
TilePropagator propagator,
EdgedPathSpec edgedPathSpec)
{
this.filteredIndexPicker = filteredIndexPicker;
this.propagator = propagator;
this.edgedPathSpec = edgedPathSpec;
}
public void Init(TilePropagator propagator)
{
if (PathSpec is PathSpec pathSpec)
{
// Convert PathSpec to EdgedPathSpec
// As we have a bug with PathSpec ignoring paths of length 2.
// (probably should use bridge edges instead of articulation points)
ISet <Direction> allDirections = new HashSet <Direction>(Enumerable.Range(0, propagator.Topology.DirectionsCount).Cast <Direction>());
var edgedPathSpec = new EdgedPathSpec
{
Exits = pathSpec.Tiles.ToDictionary(x => x, _ => allDirections),
RelevantCells = pathSpec.RelevantCells,
RelevantTiles = pathSpec.RelevantTiles,
TileRotation = pathSpec.TileRotation,
};
pathView = edgedPathSpec.MakeView(propagator);
}
else
{
pathView = PathSpec.MakeView(propagator);
}
pathView.Init();
}
public EdgedPathView(EdgedPathSpec spec, TilePropagator propagator)
{
if (spec.TileRotation != null)
{
exits = new Dictionary <Tile, ISet <Direction> >();
foreach (var kv in spec.Exits)
{
foreach (var rot in spec.TileRotation.RotationGroup)
{
if (spec.TileRotation.Rotate(kv.Key, rot, out var rtile))
{
Direction Rotate(Direction d)
{
return(TopoArrayUtils.RotateDirection(propagator.Topology.AsGridTopology().Directions, d, rot));
}
var rexits = new HashSet <Direction>(kv.Value.Select(Rotate));
exits[rtile] = rexits;
}
}
}
endPointTiles = spec.RelevantTiles == null ? null : new HashSet <Tile>(spec.TileRotation.RotateAll(spec.RelevantTiles));
}
else
{
exits = spec.Exits;
endPointTiles = spec.RelevantTiles;
}
pathTileSet = propagator.CreateTileSet(exits.Keys);
pathSelectedTracker = propagator.CreateSelectedTracker(pathTileSet);
Graph = CreateEdgedGraph(propagator.Topology);
this.propagator = propagator;
this.topology = propagator.Topology;
var nodesPerIndex = GetNodesPerIndex();
CouldBePath = new bool[propagator.Topology.IndexCount * nodesPerIndex];
MustBePath = new bool[propagator.Topology.IndexCount * nodesPerIndex];
tileSetByExit = exits
.SelectMany(kv => kv.Value.Select(e => Tuple.Create(kv.Key, e)))
.GroupBy(x => x.Item2, x => x.Item1)
.ToDictionary(g => g.Key, propagator.CreateTileSet);
trackerByExit = tileSetByExit
.ToDictionary(kv => kv.Key, kv => propagator.CreateSelectedTracker(kv.Value));
hasEndPoints = spec.RelevantCells != null || spec.RelevantTiles != null;
if (hasEndPoints)
{
CouldBeRelevant = new bool[propagator.Topology.IndexCount * nodesPerIndex];
MustBeRelevant = new bool[propagator.Topology.IndexCount * nodesPerIndex];
endPointIndices = spec.RelevantCells == null ? null :
spec.RelevantCells.Select(p => propagator.Topology.GetIndex(p.X, p.Y, p.Z)).ToList();
endPointTileSet = endPointTiles != null?propagator.CreateTileSet(endPointTiles) : null;
endPointSelectedTracker = endPointTiles != null?propagator.CreateSelectedTracker(endPointTileSet) : null;
}
else
{
CouldBeRelevant = CouldBePath;
MustBeRelevant = MustBePath;
endPointTileSet = pathTileSet;
}
}
