/// <summary>
/// Finds all <see cref="Graph"/> nodes that the specified agent can reach from the
/// specified node with the specified maximum path cost.</summary>
/// <param name="agent">
/// The <see cref="IGraphAgent{T}"/> that performs the movement.</param>
/// <param name="source">
/// The source node within <see cref="Graph"/> where the movement starts.</param>
/// <param name="maxCost">
/// The maximum total cost of the best path from the specified <paramref name="source"/> to
/// any reachable <see cref="Graph"/> node.</param>
/// <returns>
/// <c>true</c> if one or more <see cref="Graph"/> nodes could be reached from the specified
/// <paramref name="source"/>; otherwise, <c>false</c>.</returns>
/// <exception cref="ArgumentNullException">
/// <paramref name="agent"/> or <paramref name="source"/> is a null reference.</exception>
/// <exception cref="ArgumentOutOfRangeException">
/// <paramref name="maxCost"/> is zero or negative.</exception>
/// <remarks><para>
/// <b>FindReachable</b> returns <c>false</c> if the specified <paramref name="source"/>
/// node is invalid, or if there are no reachable nodes whose total path cost is equal to or
/// less than the specified <paramref name="maxCost"/>.
/// </para><para>
/// Otherwise, <b>FindReachable</b> returns <c>true</c> and sets the <see cref="Nodes"/>
/// property to the result of the path search. This collection contains only those reachable
/// nodes for which <see cref="IGraphAgent{T}.CanOccupy"/> has succeeded.
/// </para><para>
/// If <see cref="IGraphAgent{T}.RelaxedRange"/> is <c>true</c> for the specified <paramref
/// name="agent"/>, the <b>Nodes</b> collection includes those nodes whose total path cost
/// exceeds <paramref name="maxCost"/>, but which can be reached from a neighbor whose total
/// path cost is less than (but not equal to) <paramref name="maxCost"/>. These nodes are
/// considered reachable regardless of their actual step costs.</para></remarks>
public bool FindReachable(IGraphAgent <T> agent, T source, double maxCost)
{
if (agent == null)
{
ThrowHelper.ThrowArgumentNullException("agent");
}
if (source == null)
{
ThrowHelper.ThrowArgumentNullException("source");
}
if (maxCost <= 0)
{
ThrowHelper.ThrowArgumentOutOfRangeException(
"maxCost", maxCost, Strings.ArgumentNotPositive);
}
_agent = agent;
_maxCost = maxCost;
// clear previous results
_nodes.Clear();
// fail if source node is invalid
if (!Graph.Contains(source))
{
return(false);
}
// mark source node as visited
_pathCosts.Add(source, -1);
// expand coverage to maxCost
ExpandArea(source, 0);
// clear intermediate data
_pathCosts.Clear();
// succeed if any nodes reached
return(_nodes.Count > 0);
}
/// <summary>
/// Finds the best path to move the specified agent from one specified <see cref="Graph"/>
/// node to another.</summary>
/// <param name="agent">
/// The <see cref="IGraphAgent{T}"/> that performs the movement.</param>
/// <param name="source">
/// The source node within <see cref="Graph"/>.</param>
/// <param name="target">
/// The target node within <see cref="Graph"/>.</param>
/// <returns>
/// <c>true</c> if a best path between <paramref name="source"/> and <paramref
/// name="target"/> could be found; otherwise, <c>false</c>.</returns>
/// <exception cref="ArgumentNullException">
/// <paramref name="agent"/>, <paramref name="source"/>, or <paramref name="target"/> is a
/// null reference.</exception>
/// <remarks><para>
/// <b>FindBestPath</b> returns <c>false</c> if either of the specified <paramref
/// name="source"/> and <paramref name="target"/> nodes is invalid, or if no connecting path
/// could be found.
/// </para><para>
/// Otherwise, <b>FindBestPath</b> returns <c>true</c> and sets the <see cref="BestNode"/>,
/// <see cref="Nodes"/>, and <see cref="TotalCost"/> properties to the results of the path
/// search.
/// </para><para>
/// <b>FindBestPath</b> calls <see cref="IGraphAgent{T}.CanOccupy"/> and <see
/// cref="IGraphAgent{T}.IsNearTarget"/> on the specified <paramref name="agent"/> to
/// determine whether a given <see cref="BestNode"/> candidate is acceptable. Depending on
/// the implementation of <b>IsNearTarget</b>, the <see cref="PathNode{T}.Node"/> of the
/// final <see cref="BestNode"/> may differ from the specified <paramref name="target"/>,
/// and possibly equal the specified <paramref name="source"/>. <b>CanOccupy</b> is never
/// called on path nodes that match the <paramref name="source"/> node.
/// </para><para>
/// <b>FindBestPath</b> operates with a <em>restricted search radius</em> if <see
/// cref="RelativeLimit"/> is greater than zero. In this case, <see cref="AbsoluteLimit"/>
/// is set to the product (rounded up) of <b>RelativeLimit</b> and the distance between
/// <paramref name="source"/> and <paramref name="target"/>. Whenever a node is considered
/// for inclusion in the search path, its distances from <paramref name="source"/> and
/// <paramref name="target"/> are calculated, and the node is ignored if the sum exceeds
/// <b>AbsoluteLimit</b>.</para></remarks>
public bool FindBestPath(IGraphAgent <T> agent, T source, T target)
{
if (agent == null)
{
ThrowHelper.ThrowArgumentNullException("agent");
}
if (source == null)
{
ThrowHelper.ThrowArgumentNullException("source");
}
if (target == null)
{
ThrowHelper.ThrowArgumentNullException("target");
}
_agent = agent;
_source = source;
_target = target;
// clear previous results
_absoluteLimit = 0;
_bestNode = null;
_nodes.Clear();
_targetWorld = PointD.Empty;
// fail if either node is invalid
if (!Graph.Contains(source) || !Graph.Contains(target))
{
return(false);
}
// compute absolute distance limit if desired
double distance = Graph.GetDistance(source, target);
if (_relativeLimit > 0)
{
_absoluteLimit = distance * _relativeLimit;
}
// compute world distance to target if desired
if (UseWorldDistance)
{
_targetWorld = Graph.GetWorldLocation(target);
}
// initialize search list
_openList = new PathNode <T>(source, Graph.Connectivity);
_openList._h = distance;
bool success = false;
while (SetBestNode())
{
T node = _bestNode.Node;
// succeed if occupation target is in range
if (_agent.IsNearTarget(node, target, _bestNode._h) &&
(ComparerCache <T> .EqualityComparer.Equals(source, node) ||
_agent.CanOccupy(node)))
{
success = true;
break;
}
// add children to search space
CreateChildren(_bestNode);
}
// clear intermediate data
_source = _target = default(T);
Debug.Assert(_parents.Count == 0);
_openList = null;
_openTable.Clear();
_closedTable.Clear();
return(success);
}
