private bool UnloadResources()
{
SimUnit targetUnit = lastPoint.GetUnitWithTargetAndCapacity(searchTarget, resources);
if (targetUnit != null)
{
resources.TransferResourcesTo(targetUnit.resources);
}
return(resources.IsEmpty());
}
public SimPoint FindNextPoint(SimPoint fromPoint, string searchTarget, SimResourceBinCollection resources)
{
//This implementation MUST be replaced with something that is really fast.. right now
//we are not even using a priority queue!!
//We should store as much information as possible in each SimPoint to make this search as
//fast as possible.
closedSet.Clear();
openSet.Clear();
cameFrom.Clear();
scoreFromStart.Clear();
scorePlusHeuristicFromStart.Clear();
openSet.Add(fromPoint);
scoreFromStart[fromPoint] = 0;
scorePlusHeuristicFromStart[fromPoint] = scoreFromStart[fromPoint] + Heuristic(fromPoint, fromPoint);
while (openSet.Count > 0)
{
SimPoint current = GetPointWithLowestScorePlusHeuristicFromStart();
if (current.GetUnitWithTargetAndCapacity(searchTarget, resources) != null)
{
if (current == fromPoint)
{
return(current);
}
while (cameFrom[current] != fromPoint)
{
current = cameFrom[current];
}
return(current);
}
openSet.Remove(current);
closedSet.Add(current);
foreach (SimSegment segment in current.segments)
{
SimPoint neighbor;
if (segment.point1 == current)
{
neighbor = segment.point2;
}
else
{
neighbor = segment.point1;
}
float neighborScoreFromStart = scoreFromStart[current] + segment.length;
if (closedSet.Contains(neighbor))
{
if (neighborScoreFromStart >= scoreFromStart[neighbor])
{
continue;
}
}
if (!openSet.Contains(neighbor) || neighborScoreFromStart < scoreFromStart[neighbor])
{
cameFrom[neighbor] = current;
scoreFromStart[neighbor] = neighborScoreFromStart;
scorePlusHeuristicFromStart[neighbor] = neighborScoreFromStart + Heuristic(neighbor, fromPoint);
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
}
}
}
//No path found.. return random point!
if (fromPoint.segments.Count > 0)
{
SimSegment randomSegment = fromPoint.segments[rnd.Next(0, fromPoint.segments.Count)];
if (randomSegment.point1 == fromPoint)
{
return(randomSegment.point2);
}
else if (randomSegment.point2 == fromPoint)
{
return(randomSegment.point1);
}
}
return(null);
}