public void Add_VertexNode_ReturnBool()
{
adjList.Add("A");
adjList.Add("B");
adjList.Add("C");
adjList.Add("D");
adjList.Add("E");
Assert.AreEqual(true, adjList.Contains(adjList[0]));
Assert.AreEqual(true, adjList.Contains(adjList.Find("A")));
}
private static bool AStar(AdjacencyList <Vector3> graph, Vector3 start, Vector3 goal, out List <Vector3> path)
{
//make sure that the start and end points are valid points in the graph
if (!graph.Contains(start) || !graph.Contains(goal))
{
path = new List <Vector3>();
return(false);
}
bool success = false;
Dictionary <Vector3, Vector3> from = new Dictionary <Vector3, Vector3>();
HashSet <Vector3> closed = new HashSet <Vector3>();
HashSet <Vector3> open = new HashSet <Vector3> {
start
};
Dictionary <Vector3, float> gScore = new Dictionary <Vector3, float>();
SimplePriorityQueue <Vector3, float> fScore = new SimplePriorityQueue <Vector3, float>();
gScore.Add(start, 0);
fScore.Enqueue(start, Vector3.Distance(start, goal));
while (open.Count > 0)
{
Vector3 current = fScore.Dequeue();
if (current == goal)
{
success = true;
break;
}
open.Remove(current);
closed.Add(current);
foreach (Vector3 neighbor in graph.FindNeighbours(current))
{
if (closed.Contains(neighbor))
{
continue;
}
float dist = gScore[current] + Vector3.Distance(current, neighbor);
if (!open.Contains(neighbor))
{
open.Add(neighbor);
}
else if (gScore.ContainsKey(neighbor) && dist >= gScore[neighbor])
{
continue;
}
from[neighbor] = current;
gScore[neighbor] = dist;
fScore.Enqueue(neighbor, dist + Vector3.Distance(neighbor, goal));
}
}
path = FormPath(from, goal);
return(success);
}
/// <summary>
///
/// </summary>
/// <param name="node"></param>
/// <returns></returns>
public bool ContainsAdjacentNode(INode <KEY> node)
{
return(AdjacencyList.Contains(node));
}
public void AddEdge(string name1, string name2, int length)
{
if (list.Contains(name1) && list.Contains(name2))
{
Vertex first = list.GetVertex(name1);
Vertex second = list.GetVertex(name2);
if (list[first, second] == null)
{
Edge edge = new Edge(second, length);
list.AddLink(first, edge);
}
}
else
{
throw new VertexDoesNotExistException();
}
}
