using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using ARLocation;

public class dijkstraShortPathInfo : MonoBehaviour
{
    public LocationPath locationPath;
    //public Location[] locations;
    // Start is called before the first frame update
    public void GetPath(int x, int y){
            dijkstra(adjacencyMatrix, x, y);
            Array.Resize(ref locationPath.Locations, savepath.Length);
            Invoke("Fcc", 1f);
    }
    void Fcc()
    {
        for (int i = 0; i < savepath.Length; i++)
        {  
            locationPath.Locations[i].Latitude = xx[savepath[i]];
            locationPath.Locations[i].Longitude = yy[savepath[i]];         
         }
    }
    private void Start()
    {
        Array.Resize(ref locationPath.Locations, 0);
    }
    public static double[] xx = {35.968340,
35.968344,
35.967567,
35.967233,
35.967175,
35.967116,
35.967376,
35.967466,
35.967796,
35.968186,
35.968294,
35.968169,
35.968122,
35.967498,
35.968656,
35.968681,
35.968701,
35.968712,
35.968747,
35.968811,
35.969017,
35.969254,
35.969649,
35.970050,
35.970448,
35.970412,
35.970105,
35.970123,
35.970074,
35.970277,
35.970773,
35.971093,
35.971691,
35.972213,
35.971945,
35.968735,
35.969062,
35.969360,
35.969972,
35.969965,
35.970113,
35.969409,
35.969063,
35.969110};

    public static double[] yy = {126.958104,
 126.958931,
 126.959010,
 126.959057,
 126.958213,
 126.957411,
 126.957384,
 126.958192,
 126.957333,
 126.957295,
 126.957481,
 126.957026,
 126.956660,
 126.956364,
 126.956969,
 126.958065,
 126.958890,
 126.959303,
 126.960234,
 126.960767,
 126.959285,
 126.959269,
 126.959206,
 126.959107,
 126.959044,
 126.958577,
 126.958505,
 126.958834,
 126.958083,
 126.958161,
 126.958137,
 126.958119,
 126.958135,
 126.958130,
 126.957231,
 126.956853,
 126.956823,
 126.956825,
 126.956810,
 126.955791,
 126.955241,
 126.955928,
 126.956008,
 126.956427};

    private static readonly int NO_PARENT = -1;

    //경로 저장 배열
    public static int[] savepath;

    public static int[,] adjacencyMatrix = {{0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {1,0,1,0,0,0,0,0,0,0,2,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,1,0,1,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {1,2,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,1,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,1,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,1},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,1,0,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,1},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1},
                                  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,1,0}};


    public static void dijkstra(int[,] adjacencyMatrix, int startVertex, int destinationvertex)
    {
        int nVertices = adjacencyMatrix.GetLength(0);

        //shortestDistances[i]는 src(출발지)에서 i까지의 최단 거리를 유지합니다
        int[] shortestDistances = new int[nVertices];

        //added [i]는 버텍스(vertex정점,노드) i가 포함되어 있거나 최단 경로 트리에 있거나 src에서 i까지의 최단 거리가 완료되면 true입니다.
        bool[] added = new bool[nVertices];

        //모든 거리를 INFINITE로 초기화하고[]를 false로 추가
        for (int vertexIndex = 0; vertexIndex < nVertices; vertexIndex++)
        {
            shortestDistances[vertexIndex] = int.MaxValue;
            added[vertexIndex] = false;
        }

        //자체 정점의 거리는 항상 0입니다
        shortestDistances[startVertex] = 0;

        //최단 경로 트리를 저장하는 부모 배열
        int[] parents = new int[nVertices];

        //시작 정점에는 부모가 없습니다
        parents[startVertex] = NO_PARENT;

        //모든 정점에 대한 최단 경로 찾기
        for (int i = 1; i < nVertices; i++)
        {
            //아직 처리되지 않은 정점 세트에서 최소 거리 정점을 지정합니다. 가장 가까운 정점은 첫 번째 반복에서 항상 startNode와 같습니다.
            int nearestVertex = -1;
            int shortestDistance = int.MaxValue;
            for (int vertexIndex = 0; vertexIndex < nVertices; vertexIndex++)
            {
                if (!added[vertexIndex] && shortestDistances[vertexIndex] < shortestDistance)
                {
                    nearestVertex = vertexIndex;
                    shortestDistance = shortestDistances[vertexIndex];
                }
            }
            //선택된 정점을 처리 된 것으로 표시
            added[nearestVertex] = true;

            //선택된 정점의 인접한 정점의 거리 값을 업데이트합니다.
            for (int vertexIndex = 0; vertexIndex < nVertices; vertexIndex++)
            {
                int edgeDistance = adjacencyMatrix[nearestVertex, vertexIndex];
                if (edgeDistance > 0 && ((shortestDistance + edgeDistance) < shortestDistances[vertexIndex]))
                {
                    parents[vertexIndex] = nearestVertex;
                    shortestDistances[vertexIndex] = shortestDistance + edgeDistance;
                }
            }
        }

        printSolution(startVertex, shortestDistances, parents, destinationvertex);
    }

    //구성된 거리 배열과 최단 경로를 인쇄하는 유틸리티 기능
    private static void printSolution(int startVertex, int[] distances, int[] parents, int destinationvertex)
    {
        int nVertices = distances.Length;
        Console.Write("Vertex\t Distance\tPath");

        //for (int vertexIndex = 0; vertexIndex < nVertices; vertexIndex++)
        //{
        if (destinationvertex != startVertex)
        {
            Console.Write("\n" + startVertex + " ->");
            Console.Write(destinationvertex + "\t\t");
            Console.Write(distances[destinationvertex] + "\t\t");
            //거리만큼 savepath 배열 크기 재설정
            Array.Resize(ref savepath, distances[destinationvertex] + 1);
            printPath(destinationvertex, parents, distances[destinationvertex] + 1);
        }
        //}
    }

    //부모 배열을 사용하여 소스에서 currentVertex까지의 최단 경로를 인쇄하는 기능
    private static void printPath(int currentVertex, int[] parents, int chkpoint)
    {
        if (currentVertex == NO_PARENT)
        {
            return;
        }
        printPath(parents[currentVertex], parents, --chkpoint);
        //경로 배열에 저장
        savepath[chkpoint] = currentVertex;
        Console.Write(currentVertex + " ");

    }
}