private CellTransition calculatePath(LiMap.Cell cell, Cell lastCell, HashSet <LiMap.Cell> visited, int depth)
{
if (visited.Contains(cell) || depth > Constant.PathMaxDepth)
{
return(null);
}
visited.Add(cell);
Cell resultCell = new Cell();
resultCell.Pos = cell.Pos;
resultCell.DirIn = cell.Pos - lastCell.Pos;
CellTransition max = null;
foreach (LiMap.Transition transition in cell.Transitions)
{
TileDir dir = transition.ToCell.Pos - cell.Pos;
resultCell.DirOut = dir;
CellTransition newTransition = calculatePath(transition.ToCell, resultCell, visited, depth + 1);
if (null != newTransition)
{
newTransition.TransitionPriority = cellTransitionPriority(lastCell, resultCell, newTransition.Cell, transition.Weight);
int checkDepth = transition.isCheckpoint ? 0 : 3;
if (null == max || newTransition.Priority(checkDepth) > max.Priority(checkDepth))
{
max = newTransition;
}
}
}
List <TileDir> dirOuts = new List <TileDir>();
foreach (TileDir dir in cell.Dirs)
{
if (dir != resultCell.DirIn.Negative())
{
dirOuts.Add(dir);
}
}
resultCell.DirOuts = dirOuts.ToArray();
resultCell.DirOut = null;
if (0 != dirOuts.Count)
{
if (null != max)
{
resultCell.DirOut = max.Cell.Pos - cell.Pos;
}
}
CellTransition result = new CellTransition(resultCell, max, cellPriority(resultCell));
visited.Remove(cell);
return(result);
}
public double NextPriority(int depth)
{
return((null != Next) ? Next.Priority(depth) : 0);
}
