public List <DrivingNode> Go(Point startPoint, Point endPoint, Reusables reusables)
{
reusables.Clear();
this.startPoint = startPoint;
this.endPoint = endPoint;
foundTarget = false;
Point workingPoint;
AStarNode workingNode;
reusables.toCheckList.Add(GetOneD(startPoint), new AStarNode(GetOneD(startPoint), GetOneD(startPoint), 0, 0, 255, true));
for (int i = 0; i < maximumToCheck; i++)
{
if (NextRoundChecks(reusables, out workingPoint, out workingNode))
{
AddNewPoints(reusables, workingPoint, workingNode);
}
else
{
break;
}
}
if (foundTarget)
{
//Debugging(checkedNodeList, toCheckList);
return(GetDrivingNodeList(reusables, startPoint));
}
else
{
return(new List <DrivingNode>());
}
}
public List <DrivingNode> Go(Point startPoint, Point endPointZ, bool reversed, out SearchResult searchResult, out Point midPoint, Vehicle currentVehicle, bool keepDestination, Reusables reusables)
{
reusables.Clear();
//We were not using this before. Does it affect anything. Will it block vehilces in?
this.currentVehicle = currentVehicle;
this.startPoint = startPoint;
endPoint = endPointZ;
foundTarget = false;
foundRoad = false;
Point workingPoint;
AStarNode workingNode;
reusables.toCheckList.Add(GetOneD(startPoint), new AStarNode(GetOneD(startPoint), GetOneD(startPoint), 0, 0, 0, false));
for (int i = 0; i < maximumToCheck; i++)
{
if (NextRoundChecks(reusables, out workingPoint, out workingNode))
{
AddNewPoints(reusables, workingPoint, workingNode);
}
else
{
break;
}
}
// Debugging(checkedNodeList, toCheckList);
if (foundTarget)
{
searchResult = SearchResult.EndFound;
midPoint = GetMidPoint(reversed);
//Debugging(checkedNodeList, toCheckList);
return(GetDrivingNodeList(reusables, reversed, startPoint, endPoint, keepDestination));
}
else if (foundRoad)
{
searchResult = SearchResult.RoadFound;
midPoint = GetMidPoint(reversed);
//Debugging(checkedNodeList, toCheckList);
return(GetDrivingNodeList(reusables, reversed, startPoint, endPoint, keepDestination));
}
else
{
searchResult = SearchResult.None;
midPoint = GetMidPoint(reversed);
//Debugging(checkedNodeList, toCheckList);
return(new List <DrivingNode>());
}
}