private void CreateInterClusterEdges(Cluster cluster)
{
foreach (var point1 in cluster.EntrancePoints)
foreach (var point2 in cluster.EntrancePoints)
{
if (point1 == point2) continue;
if (cluster.AreConnected(point1, point2))
{
var absTilingEdgeInfo1 = new AbsTilingEdgeInfo(cluster.GetDistance(point1.EntranceLocalIdx, point2.EntranceLocalIdx), 1, false);
HierarchicalMap.AbstractGraph.AddEdge(
point1.AbsNodeId,
point2.AbsNodeId,
absTilingEdgeInfo1);
}
}
}
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;
}
}
