/// <summary>
/// Finds the shortest route in the graph described by the RouteFinderPackage p.
/// Modifies p so that the next time it is used to find a route, the next-longer
/// route will be found.
/// </summary>
/// <param name="p">The RouteFinderPackage describing the graph on which to find
/// the route.</param>
/// <returns>The shortest route in the graph described by p.</returns>
public static Route FindRoute(RouteFinderPackage p)
{
Vertex startVertex = null;
// (8) while Q is not an empty set
while (p.entranceVertices.Count > 0 || p.exitVertices.Count > 0)
{
// (9) u := Extract_Min(Q)
Vertex u = Vertex.NULL_VERTEX;
bool isEntranceVertex = true;
foreach (Vertex v in p.entranceVertices.Values)
{
if (v.ShortestPathCost <= u.ShortestPathCost)
{
u = v;
}
}
foreach (Vertex v in p.exitVertices.Values)
{
if (v.ShortestPathCost <= u.ShortestPathCost)
{
u = v;
isEntranceVertex = false;
}
}
if (isEntranceVertex)
{
p.entranceVertices.Remove(u.Loc.Id);
}
else
{
p.exitVertices.Remove(u.Loc.Id);
}
// If we're at one of the start locations, we've found a path
if (p.startVertices.Contains(u))
{
startVertex = u;
//p.startVertices.Remove(u);
break;
}
// (11) for each edge (u,v) outgoing from u
// Note: This search is being done backwards, so look at incoming edges instead
foreach (Edge e in u.IncomingEdges)
{
Vertex v = e.From;
// (12) if d[v] > d[u] + w(u,v) // Relax (u,v)
if (v.ShortestPathCost > u.ShortestPathCost + e.Weight)
{
// (13) d[v] := d[u] + w(u,v)
v.ShortestPathCost = u.ShortestPathCost + e.Weight;
// (14) previous[v] := u
v.Next = u;
}
}
}
// Read the route back
if (startVertex != null && !double.IsInfinity(startVertex.ShortestPathCost))
{
Route route = new Route(startVertex.ShortestPathCost);
route.Add(startVertex.Loc);
for (Vertex u = startVertex; u != null; u = u.Next)
{
if (u.Category == VertexCategory.Entrance)
{
route.Add(u.Loc);
}
}
return(route);
}
else
{
return(new Route(0.0));
}
}
/// <summary>
/// Finds the shortest route from any number of start locations to a specific end location
/// </summary>
/// <param name="startPoints">The list of the alternate start points</param>
/// <param name="startLocation">The specific start point specified by the user, or
/// NO_LOCATION if the algorithm should only use the locations in startPoints.</param>
/// <param name="endLocation">The route destination</param>
/// <param name="p">This will describe the graph generated for route finding.
/// Pass it as the parameter to FindRoute(RouteFinderPackage) to find the
/// next-longer route.</param>
/// <returns>The shortest route from endLocation to any of the start points.</returns>
public static Route FindRoute(LocationDatabase locDb, ICollection <RouteStart> startPoints,
ICollection <PortalDevice> portalDevices, Location startLocation, Location endLocation,
out RouteFinderPackage p)
{
// Implementation Notes:
// - Based on Dijkstra's Algorithm
// - Maintains two "Q" lists, one for portal entrances and one for portal exits.
// - "Running" edges exist from portal exits to portal entrances, but only if
// the two points are in the same region (i.e., island).
// - "Portal" edges exist from portal entrances to portal exits.
// - Finds the route backwards, starting at the end location and working until
// it gets to any of the start locations
//
// Reference: http://en.wikipedia.org/wiki/Dijkstra's_algorithm
// 1 function Dijkstra(G, w, s)
// 2 for each vertex v in V[G] // Initializations
// 3 d[v] := infinity
// 4 previous[v] := undefined
// 5 d[s] := 0
// 6 S := empty set
// 7 Q := set of all vertices
// 8 while Q is not an empty set
// 9 u := Extract_Min(Q)
// 10 S := S union {u}
// 11 for each edge (u,v) outgoing from u
// 12 if d[v] > d[u] + w(u,v) // Relax (u,v)
// 13 d[v] := d[u] + w(u,v)
// 14 previous[v] := u
LazyLoadRegions();
p = new RouteFinderPackage();
// Estimate the number of vertices..
int numLocations = locDb.PortalLocations.Count + startPoints.Count + portalDevices.Count + 4;
// The vertices representing portal entrances
p.entranceVertices = new Dictionary <int, Vertex>(numLocations);
// The vertices representing portal exits
p.exitVertices = new Dictionary <int, Vertex>(numLocations);
// (7) Q := set of all vertices
// (2-4) Done in Vertex constructors
foreach (Location portal in locDb.PortalLocations)
{
if (portal.UseInRouteFinding)
{
Vertex entrance, exit;
p.entranceVertices[portal.Id] = entrance = new Vertex(portal, VertexCategory.Entrance);
p.exitVertices[portal.Id] = exit = new Vertex(portal, VertexCategory.Exit);
double portalWeight = mPortalWeight;
if (portal.Type == LocationType.UndergroundPortal)
{
portalWeight *= 2;
}
Edge edge = new Edge(entrance, exit, portalWeight);
//entrance.OutgoingEdges.Add(edge);
exit.IncomingEdges.Add(edge);
}
}
// Add portal devices
foreach (PortalDevice device in portalDevices)
{
if (device.Detected && device.Enabled)
{
foreach (Location dest in device.Destinations)
{
Vertex entrance, exit;
p.entranceVertices[dest.Id] = entrance = new Vertex(dest, VertexCategory.Entrance);
p.exitVertices[dest.Id] = exit = new Vertex(dest, VertexCategory.Exit);
Edge edge = new Edge(entrance, exit, device.RunDistance);
//entrance.OutgoingEdges.Add(edge);
exit.IncomingEdges.Add(edge);
}
}
}
// Add vertices for start and end if they aren't already in the list.
p.startVertices = new List <Vertex>(startPoints.Count);
Dictionary <Vertex, double> startVerticesExtraRun = new Dictionary <Vertex, double>();
Vertex end;
// startVerticies are like portal exits - make sure they're in the
// exit list, and not in the entrance list
Vertex start;
foreach (RouteStart startPoint in startPoints)
{
if (startPoint.Enabled && startPoint.Coords != Coordinates.NO_COORDINATES)
{
if (!p.exitVertices.TryGetValue(startPoint.Id, out start))
{
start = new Vertex(startPoint.ToLocation(locDb), VertexCategory.Exit);
p.exitVertices[startPoint.Id] = start;
}
p.entranceVertices.Remove(startPoint.Id);
start.IncomingEdges.Clear();
if (start.Loc.ExitCoords == Coordinates.NO_COORDINATES)
{
start.Loc.ExitCoords = start.Loc.Coords;
}
p.startVertices.Add(start);
if (startPoint.RunDistance > 0)
{
startVerticesExtraRun[start] = startPoint.RunDistance;
}
}
}
if (startLocation != null && startLocation != Location.NO_LOCATION)
{
if (!p.exitVertices.TryGetValue(startLocation.Id, out start))
{
start = new Vertex(startLocation, VertexCategory.Exit);
p.exitVertices[startLocation.Id] = start;
}
start.IncomingEdges.Clear();
p.entranceVertices.Remove(startLocation.Id);
if (start.Loc.ExitCoords == Coordinates.NO_COORDINATES)
{
// Create a copy so as to not modify the original Location
start.Loc = new Location(start.Loc.Id, start.Loc);
start.Loc.ExitCoords = start.Loc.Coords;
}
p.startVertices.Add(start);
}
// end is like a portal entrance - make sure it's in the
// entrance list, and not in the exit list
if (!p.entranceVertices.TryGetValue(endLocation.Id, out end))
{
end = new Vertex(endLocation, VertexCategory.Entrance);
p.entranceVertices[endLocation.Id] = end;
}
p.exitVertices.Remove(endLocation.Id);
//end.OutgoingEdges.Clear();
// (5) d[s] := 0
end.ShortestPathCost = 0;
// Add edges for running from each portal exit to each portal entrance
// ONLY add edges if the two vertices have the same region ID (i.e., are
// on the same island).
foreach (Vertex exit in p.exitVertices.Values)
{
foreach (Vertex entrance in p.entranceVertices.Values)
{
if (entrance.Loc != exit.Loc && entrance.RegionId == exit.RegionId)
{
double distance = exit.Loc.ExitCoords.DistanceTo(entrance.Loc.Coords);
double extraRun;
if (startVerticesExtraRun.TryGetValue(exit, out extraRun))
{
distance += extraRun;
}
if (distance < mMaxRunDistance)
{
Edge e = new Edge(exit, entrance, distance);
//exit.OutgoingEdges.Add(e);
entrance.IncomingEdges.Add(e);
}
}
}
}
return(FindRoute(p));
}