private List <Location> GetWalkableAdjacentSquares(int x, int y, string[] map, Car car)
{
var proposedLocations = new List <Location>()
{
new Location {
X = x, Y = y - 1
},
new Location {
X = x, Y = y + 1
},
new Location {
X = x - 1, Y = y
},
new Location {
X = x + 1, Y = y
},
};
if (proposedLocations[0].Y == -1)
{
proposedLocations[0] = new Location {
X = x, Y = 59
}
}
;
if (proposedLocations[1].Y == 60)
{
proposedLocations[1] = new Location {
X = x, Y = 0
}
}
;
if (proposedLocations[2].X == -1)
{
proposedLocations[2] = new Location {
X = 59, Y = y
}
}
;
if (proposedLocations[3].X == 60)
{
proposedLocations[3] = new Location {
X = 0, Y = y
}
}
;
Pos jarda = new Pos(0, 0);
Pos jarda2 = new Pos(0, 0);
Pos korforgalom = new Pos(0, 0);
//switch (car.Direction)
//{
// case "UP":
// jarda.PosX = car.Position.PosX + 1; jarda.PosY = car.Position.PosY;
// jarda2.PosX = car.Position.PosX + 1; jarda2.PosY = car.Position.PosY + 1;
// korforgalom.PosX = car.Position.PosX - 1; jarda.PosY = car.Position.PosY;
// break;
// case "DOWN":
// jarda.PosX = car.Position.PosX - 1; jarda.PosY = car.Position.PosY;
// jarda2.PosX = car.Position.PosX - 1; jarda2.PosY = car.Position.PosY - 1;
// korforgalom.PosX = car.Position.PosX + 1; jarda.PosY = car.Position.PosY;
// break;
// case "LEFT":
// jarda.PosX = car.Position.PosX; jarda.PosY = car.Position.PosY - 1;
// jarda2.PosX = car.Position.PosX + 1; jarda2.PosY = car.Position.PosY - 1;
// korforgalom.PosX = car.Position.PosX - 1; jarda.PosY = car.Position.PosY;
// break;
// case "RIGHT":
// jarda.PosX = car.Position.PosX; jarda.PosY = car.Position.PosY + 1;
// jarda2.PosX = car.Position.PosX - 1; jarda2.PosY = car.Position.PosY + 1;
// korforgalom.PosX = car.Position.PosX + 1; jarda.PosY = car.Position.PosY;
// break;
//}
//foreach (Location l in proposedLocations)
//{
// if ()
//}
return(proposedLocations.Where(l => map[l.Y][l.X] == 'S' || map[l.Y][l.X] == 'Z').ToList());
}
public Routing FindRoute(int StartX, int StartY, int TargetX, int TargetY, Car car)
{
this.myCar = car;
Location current = null;
var start = new Location {
X = StartX, Y = StartY
};
var target = new Location {
X = TargetX, Y = TargetY
};
var openList = new List <Location>();
var closedList = new List <Location>();
int currentDistanceFromStart = 0;
route = new List <Location>();
target = CheckRoad(target.X, target.Y, map);
openList.Add(start);
while (openList.Count > 0)
{
var lowest = openList.Min(l => l.distanceScore);
current = openList.First(l => l.distanceScore == lowest);
closedList.Add(current);
openList.Remove(current);
if (closedList.FirstOrDefault(l => l.X == target.X && l.Y == target.Y) != null)
{
break;
}
var adjacentSquares = GetWalkableAdjacentSquares(current.X, current.Y, map, car);
currentDistanceFromStart++;
foreach (var adjacentSquare in adjacentSquares)
{
if (closedList.FirstOrDefault(l => l.X == adjacentSquare.X && l.Y == adjacentSquare.Y) != null)
{
continue;
}
if (openList.FirstOrDefault(l => l.X == adjacentSquare.X && l.Y == adjacentSquare.Y) == null)
{
adjacentSquare.distanceFromStart = currentDistanceFromStart;
adjacentSquare.distanceFromTarget = ComputeEndDistance(adjacentSquare.X, adjacentSquare.Y, target.X, target.Y);
adjacentSquare.distanceScore = adjacentSquare.distanceFromStart + adjacentSquare.distanceFromTarget;
adjacentSquare.previousLocation = current;
openList.Insert(0, adjacentSquare);
}
else
{
if (currentDistanceFromStart + adjacentSquare.distanceFromTarget > adjacentSquare.distanceScore)
{
adjacentSquare.distanceFromStart = currentDistanceFromStart;
adjacentSquare.distanceScore = adjacentSquare.distanceFromStart + adjacentSquare.distanceFromTarget;
adjacentSquare.previousLocation = current;
}
}
}
}
while (current != null)
{
this.route.Add(new Location {
X = current.X, Y = current.Y
});
current = current.previousLocation;
}
this.route.Reverse();
return(this);
}
