private List <Entrance> CreateEntrancesAlongEdge(
int startPoint,
int endPoint,
Cluster precedentCluster,
Cluster currentCluster,
ref int currentEntranceId,
Func <int, Tuple <ConcreteNode, ConcreteNode> > getNodesInEdge,
Orientation orientation)
{
List <Entrance> entrances = new List <Entrance>();
for (var entranceStart = startPoint; entranceStart <= endPoint; entranceStart++)
{
var size = GetEntranceSize(entranceStart, endPoint, getNodesInEdge);
var entranceEnd = entranceStart + size - 1;
if (size == 0)
{
continue;
}
if (_entranceStyle == EntranceStyle.EndEntrance && size > MAX_ENTRANCE_WIDTH)
{
var nodes = getNodesInEdge(entranceStart);
var srcNode = nodes.Item1;
var destNode = nodes.Item2;
var entrance1 = new Entrance(Id <Entrance> .From(currentEntranceId), precedentCluster, currentCluster, srcNode, destNode, orientation);
currentEntranceId++;
nodes = getNodesInEdge(entranceEnd);
srcNode = nodes.Item1;
destNode = nodes.Item2;
var entrance2 = new Entrance(Id <Entrance> .From(currentEntranceId), precedentCluster, currentCluster, srcNode, destNode, orientation);
currentEntranceId++;
entrances.Add(entrance1);
entrances.Add(entrance2);
}
else
{
var nodes = getNodesInEdge((entranceEnd + entranceStart) / 2);
var srcNode = nodes.Item1;
var destNode = nodes.Item2;
var entrance = new Entrance(Id <Entrance> .From(currentEntranceId), precedentCluster, currentCluster, srcNode, destNode, orientation);
currentEntranceId++;
entrances.Add(entrance);
}
entranceStart = entranceEnd;
}
return(entrances);
}
private void CreateEntranceEdges(Entrance entrance, AbsType type)
{
var level = entrance.GetEntranceLevel(_clusterSize, _maxLevel);
var srcAbstractNodeId = _hierarchicalMap.ConcreteNodeIdToAbstractNodeIdMap[entrance.SrcNode.NodeId];
var destAbstractNodeId = _hierarchicalMap.ConcreteNodeIdToAbstractNodeIdMap[entrance.DestNode.NodeId];
var orientation = entrance.Orientation;
int cost = Constants.COST_ONE;
switch (type)
{
case AbsType.ABSTRACT_TILE:
case AbsType.ABSTRACT_OCTILE_UNICOST:
// Inter-edges: cost 1
cost = Constants.COST_ONE;
break;
case AbsType.ABSTRACT_OCTILE:
{
int unitCost;
switch (orientation)
{
case Orientation.Horizontal:
case Orientation.Vertical:
unitCost = Constants.COST_ONE;
break;
case Orientation.Hdiag2:
case Orientation.Hdiag1:
case Orientation.Vdiag1:
case Orientation.Vdiag2:
unitCost = (Constants.COST_ONE * 34) / 24;
break;
default:
unitCost = -1;
break;
}
cost = unitCost;
}
break;
}
_hierarchicalMap.AbstractGraph.AddEdge(srcAbstractNodeId, destAbstractNodeId, new AbstractEdgeInfo(cost, level, true));
_hierarchicalMap.AbstractGraph.AddEdge(destAbstractNodeId, srcAbstractNodeId, new AbstractEdgeInfo(cost, level, true));
}
private List<Entrance> CreateVertEntrances(int y0, int y1, int x, int clusterid1,
int clusterid2, int currId, out int lastEntraceId)
{
var currentIdCounter = currId;
var tilingGraph = ConcreteMap.Graph;
Func<int, int, Graph<TilingNodeInfo, TilingEdgeInfo>.Node> getNode =
(top, left) => tilingGraph.GetNode(ConcreteMap.GetNodeIdFromPos(top, left));
List<Entrance> entrances = new List<Entrance>();
for (var i = y0; i <= y1; i++)
{
var node1isObstacle = getNode(x, i).Info.IsObstacle;
var node2isObstacle = getNode(x + 1, i).Info.IsObstacle;
// get the next communication spot
if (node1isObstacle || node2isObstacle)
continue;
// start building the entrance
var entranceStart = i;
while (true)
{
i++;
if (i >= y1)
break;
node1isObstacle = getNode(x, i).Info.IsObstacle;
node2isObstacle = getNode(x + 1, i).Info.IsObstacle;
if (node1isObstacle || node2isObstacle || i >= y1)
break;
}
if (EntranceStyle == EntranceStyle.END_ENTRANCE && (i - entranceStart) > MAX_ENTRANCE_WIDTH)
{
// create two entrances, one for each end
var entrance1 = new Entrance(currentIdCounter++, clusterid1, clusterid2, entranceStart, x,
getNode(x, entranceStart).NodeId,
getNode(x + 1, entranceStart).NodeId, Orientation.VERTICAL);
// BEWARE! We are getting the tileNode for position i - 1. If clustersize was 8
// for example, and end would had finished at 7, you would set the entrance at 6.
// This seems to be intended.
var entrance2 = new Entrance(currentIdCounter++, clusterid1, clusterid2, (i - 1), x,
getNode(x, i - 1).NodeId,
getNode(x + 1, i - 1).NodeId, Orientation.VERTICAL);
entrances.Add(entrance1);
entrances.Add(entrance2);
}
else
{
// create one entrance
var entrance = new Entrance(currentIdCounter++, clusterid1, clusterid2, ((i - 1) + entranceStart) / 2, x,
getNode(x, (i - 1 + entranceStart) / 2).NodeId,
getNode(x + 1, (i - 1 + entranceStart) / 2).NodeId, Orientation.VERTICAL);
entrances.Add(entrance);
}
}
lastEntraceId = currentIdCounter;
return entrances;
}
// TODO: Together with Vert Entrances, refactor the code, they are too similar!
/// <summary>
/// Creates the horizontal entrances between the two clusters, and returns the last entrance id
/// </summary>
private List<Entrance> CreateHorizEntrances(
int x0,
int x1,
int y,
int clusterid1,
int clusterid2,
int currId,
out int nextId)
{
var currentIdCounter = currId;
var orientation = Orientation.HORIZONTAL;
var tilingGraph = ConcreteMap.Graph;
Func<int, int, Graph<TilingNodeInfo, TilingEdgeInfo>.Node> getNode =
(top, left) => tilingGraph.GetNode(ConcreteMap.GetNodeIdFromPos(top, left));
List<Entrance> entrances = new List<Entrance>();
// rolls over the horizontal edge between x0 and x1 in order to find edges between
// the top cluster (latitude marks the other cluster entrance line)
for (var i = x0; i <= x1; i++)
{
var node1isObstacle = getNode(i, y).Info.IsObstacle;
var node2isObstacle = getNode(i, y + 1).Info.IsObstacle;
// get the next communication spot
if (node1isObstacle || node2isObstacle)
continue;
// start building and tracking the entrance
var entranceStart = i;
while (true)
{
i++;
if (i >= x1)
break;
node1isObstacle = getNode(i, y).Info.IsObstacle;
node2isObstacle = getNode(i, y + 1).Info.IsObstacle;
if (node1isObstacle || node2isObstacle || i >= x1)
break;
}
if (EntranceStyle == EntranceStyle.END_ENTRANCE && i - entranceStart > MAX_ENTRANCE_WIDTH)
{
// If the tracked entrance is big, create 2 entrance points at the edges of the entrance.
// create two new entrances, one for each end
var entrance1 = new Entrance(currentIdCounter++, clusterid1, clusterid2, y, entranceStart,
getNode(entranceStart, y).NodeId,
getNode(entranceStart, y + 1).NodeId, orientation);
var entrance2 = new Entrance(currentIdCounter++, clusterid1, clusterid2, y, (i - 1),
getNode(i - 1, y).NodeId,
getNode(i - 1, y + 1).NodeId, orientation);
entrances.Add(entrance1);
entrances.Add(entrance2);
}
else
{
// if it is small, create one entrance in the middle
var entrance = new Entrance(currentIdCounter++, clusterid1, clusterid2, y, ((i - 1) + entranceStart) / 2,
getNode(((i - 1) + entranceStart) / 2, y).NodeId,
getNode(((i - 1) + entranceStart) / 2, y + 1).NodeId, orientation);
entrances.Add(entrance);
}
}
nextId = currentIdCounter;
return entrances;
}
private void CreateEntranceEdges(Entrance entrance, AbsType type, Dictionary<int, AbsTilingNodeInfo> absNodes)
{
int level;
switch (entrance.Orientation)
{
case Orientation.HORIZONTAL:
level = DetermineLevel(entrance.Coord1.Y);
break;
case Orientation.VERTICAL:
level = DetermineLevel(entrance.Coord1.X);
break;
default:
level = -1;
break;
}
var abstractNodeId1 = absNodes[entrance.Coord1Id].Id;
var abstractNodeId2 = absNodes[entrance.Coord2Id].Id;
switch (type)
{
case AbsType.ABSTRACT_TILE:
case AbsType.ABSTRACT_OCTILE_UNICOST:
// Inter-edges: cost 1
var absTilingEdgeInfo1 = new AbsTilingEdgeInfo(Constants.COST_ONE, level, true);
var absTilingEdgeInfo2 = new AbsTilingEdgeInfo(Constants.COST_ONE, level, true);
HierarchicalMap.AbstractGraph.AddEdge(abstractNodeId1, abstractNodeId2, absTilingEdgeInfo1);
HierarchicalMap.AbstractGraph.AddEdge(abstractNodeId2, abstractNodeId1, absTilingEdgeInfo2);
break;
case AbsType.ABSTRACT_OCTILE:
{
int unitCost;
switch (entrance.Orientation)
{
case Orientation.HORIZONTAL:
case Orientation.VERTICAL:
unitCost = Constants.COST_ONE;
break;
case Orientation.HDIAG2:
case Orientation.HDIAG1:
case Orientation.VDIAG1:
case Orientation.VDIAG2:
unitCost = (Constants.COST_ONE * 34) / 24;
break;
default:
unitCost = -1;
break;
}
var absTilingEdgeInfo3 = new AbsTilingEdgeInfo(unitCost, level, true);
var absTilingEdgeInfo4 = new AbsTilingEdgeInfo(unitCost, level, true);
HierarchicalMap.AbstractGraph.AddEdge(abstractNodeId1, abstractNodeId2, absTilingEdgeInfo3);
HierarchicalMap.AbstractGraph.AddEdge(abstractNodeId2, abstractNodeId1, absTilingEdgeInfo4);
}
break;
default:
break;
}
}
