internal void AddGoalNodes(GraphSearchData gsData, Level level, Entity exceptThisGoal, HashSet <Goal> solvedGoals)
{
foreach (var node in Nodes)
{
if (node is BoxConflictNode boxNode)
{
level.AddWall(boxNode.Value.Ent.Pos);
}
}
var goalCondition = new Func <(Point pos, int distance), GraphSearcher.GoalFound <(Point pos, int distance)> >(x =>
{
return(new GraphSearcher.GoalFound <(Point, int)>(x, PositionHasNode(x.pos)));
});
foreach (var goal in level.Goals)
{
if (solvedGoals.Contains(goal))
{
continue;
}
if (goal.Ent == exceptThisGoal)
{
continue;
}
BoxConflictNode node = new BoxConflictNode(new EntityNodeInfo(goal.Ent, goal.EntType));
List <(Point pos, int distance)> edges = GraphSearcher.GetReachedGoalsBFS(gsData, level, goal.Ent.Pos, goalCondition);
foreach (var edge in edges.Distinct())
{
if (GetNodeFromPosition(edge.pos) is BoxConflictNode boxEnd)
{
node.AddEdge(new Edge <DistanceEdgeInfo>(boxEnd, new DistanceEdgeInfo(edge.distance)));
boxEnd.AddEdge(new Edge <DistanceEdgeInfo>(node, new DistanceEdgeInfo(edge.distance)));
}
else if (GetNodeFromPosition(edge.pos) is FreeSpaceNode freeEnd)
{
node.AddEdge(new Edge <DistanceEdgeInfo>(freeEnd, new DistanceEdgeInfo()));
freeEnd.AddEdge(new Edge <DistanceEdgeInfo>(node, new DistanceEdgeInfo()));
}
}
Nodes.Add(node);
}
level.ResetWalls();
}
internal void AddNode(BoxConflictNode node)
{
base.AddNode(node);
PositionToNode.Add(node.Value.Ent.Pos, node);
}