public walkPath(float xc, float yc, float xt, float yt, DogsMind mind)
{
min_x = mind.min_x;
min_y = mind.min_y;
max_x = mind.max_x;
max_y = mind.max_y;
myMind = mind;
int[] node;
path = new ArrayList();
open = new ArrayList();
backmapX = new int[256, 256];
backmapY = new int[256, 256];
myMind.freeGridPoint(xc, yc, out start_x, out start_y);
myMind.freeGridPoint(xt, yt, out end_x, out end_y);
if (start_x < min_x || start_y < min_y || end_x < min_x || end_y < min_y ||
start_x > max_x || start_y > max_y || end_x > max_x || end_y > max_y)
{
return;
}
if (start_x == end_x && start_y == end_y)
{
return;
}
backmapX[start_x, start_y] = start_x;
backmapY[start_x, start_y] = start_y;
node = new int[2] {
start_x, start_y
};
open.Add(node);
if (buildBackMaps() == false)
{
return; // can't get there
}
buildPath();
}
public dogTask(DogsMind dm, string t_name)
{
task_name = t_name; // task name
myMind = dm;
target_objects = new ArrayList();
dm.myDog.Coordinates(out dm.myContext.start_pos_x, out dm.myContext.start_pos_y);
dm.myContext.start_angle = dm.myDog.Orientation();
}
