public Point tankFindPath(Grid dp, Grid cp)
{
Point start = new Point(cp.row, cp.col);
Point end = new Point(dp.row, dp.col);
var parent = maze.FindPath(start, end, false);
lGarr = new List<Point>();
while (parent != null)
{
lGarr.Add(parent);
parent = parent.ParentPoint;
}
Point retp = null;
int len;
if ((len = lGarr.Count) >= 2)
{
retp = lGarr[len - 2];
}
return retp;
}
public Grid getPointRowColTest()
{
Grid retg = new Grid(32, 29);
Vector3 retv3 = getPointCoodTest(retg);
return retg;
}
public Grid getPointRowCol(Vector3? pos)
{
int retRow = 0;
int retCol = 0;
for (int r = 0; r < row; r++)
{
if (pos.Value.Z < 2400 - 40 * r && pos.Value.Z >= 2400 - 40 * (r + 1))
{
retRow = r + 1;
break;
}
}
for (int c = 0; c < col; c++)
{
if (pos.Value.X < leftBoundary - 40 * c && pos.Value.X >= leftBoundary - 40 * (c + 1))
{
retCol = c + 1;
break;
}
}
Grid retg = new Grid(retRow, retCol);
return retg;
}
public Vector3 getPointCoodTest(Grid rc)
{
Vector3 retv = new Vector3();
retv.Y = 0f;
for (int r = 0; r < row; r++)
{
if (rc.row == r)
{
retv.Z = 2200 - 40 * r - 20;
break;
}
}
for (int c = 0; c < col; c++)
{
if (rc.col == c)
{
retv.X = leftBoundary - 40 * c - 20;
}
}
return retv;
}
public Vector3 getPointRowColTest(Grid g)
{
Grid retg = g;
Vector3 retv3 = getPointCoodTest(retg);
return retv3;
}
public void navigate(GameTime gameTime, bool PURSUE)
{
preTankPosition = translation.Translation;
Grid destinationPositionRowCol = new Grid(0, 0);
if (reNavigateTime == 0)
{
if (PURSUE == true)
{
pickPosition = Tank.tankPosition;
destinationPositionRowCol = getPointRowCol(pickPosition);
}
if (PURSUE == false)
{
if (Tank.tankPosition.Z > 0)
{ pickPosition = new Vector3(-500, 0, -500); }
else
{ pickPosition = new Vector3(-500, 0, 500); }
destinationPositionRowCol = getPointRowCol(pickPosition);
}
isNavigate = true;
preMousePick = pickPosition;
bStart = false;
reNavigateTime = 3000;
}
if (bCollision)
{
bCollision = false;
string tm = changeModel();
if (tm.CompareTo("IDLE") == 0)
{
v.Speed = 0;
speed = Vector3.Zero;
translation.Translation = preTankPosition;
}
}
else
{
isNavigate = false;
}
//streeing
float distance = Vector3.Distance(Tank.tankPosition, tankPosition);
if (distance > MIN_DISTANCE)
{
Vector3 pursueDirect = Tank.tankPosition - tankPosition;
pursueDirect.Normalize();
v.increaseVelocity(gameTime);
speed = pursueDirect * v.Speed;
tankPosition += speed;
}
}