private Pathfinding.Network CreateNetwork(RouteMap map, Modality modality)
{
var nodes =
map
.Vertices
.ToDictionary(v => v.Id, v => new Node()
{
Id = v.Id,
Location = v.Location
});
var result = new Pathfinding.Network()
{
Nodes = nodes.Values.ToList()
};
foreach (var edge in map.Edges)
{
if (modality.IsAccessible(edge))
{
result.Edges.Add(new Pathfinding.Edge(nodes[edge.FromId], nodes[edge.ToId])
{
Id = result.Edges.Count + 1,
Distance = (float)edge.Distance,
});
result.Edges.Add(new Pathfinding.Edge(nodes[edge.ToId], nodes[edge.FromId])
{
Id = result.Edges.Count + 1,
Distance = (float)edge.Distance,
});
}
}
result.Nodes.RemoveAll(n => n.Edges.Count == 0);
return(result);
}
private Pathfinder <Node, Edge> .NetworkAdapter CreateAdapter(Pathfinding.Network network)
{
return(new Pathfinder <Node, Edge> .NetworkAdapter()
{
MaxId = () => network.Nodes.Max(n => n.Id) + 1,
GetEdges = node => node.Edges,
GetCost = edge => edge.Distance,
GetNodeId = node => node.Id,
EstimateMinimumCost = (n1, n2) => Vector2.Distance(n1.Location, n2.Location),
GetOtherNode = (edge, node) => edge.To
});
}
