private bool FindPath_Sub(Cell cell, Cell cellDest, ArrayList path, CellPartEnum direction, ArrayList deadPath,
bool ignoreDestCharacter, bool ignoreObstacle, bool useStraightAngle)
{
Debug.WriteLine(string.Format("Find cell at {0}", direction));
Cell cellNext = null;
if (direction == CellPartEnum.Center)
cellNext = null;
else
cellNext = cell._adjacentCells[direction];
if (cellNext == null)
{
// no more cell found
Debug.WriteLine(string.Format("No cell"));
// get new direction
CellPartEnum direction2 = FindDirection(cell.GetCenterPoint(), cellDest.GetCenterPoint());
if (direction == direction2)
{
switch (direction2)
{
case CellPartEnum.LowerRight:
direction2 = CellPartEnum.LowerLeft;
break;
case CellPartEnum.LowerLeft:
direction2 = CellPartEnum.LowerRight;
break;
case CellPartEnum.UpperLeft:
direction2 = CellPartEnum.UpperRight;
break;
case CellPartEnum.UpperRight:
direction2 = CellPartEnum.UpperLeft;
break;
}
}
direction = direction2;
//Debug.WriteLine(string.Format("Find cell on {0}", direction));
return FindPath_Sub(cell, cellDest, path, direction, deadPath,
ignoreDestCharacter, ignoreObstacle, useStraightAngle);
}
if (!cellNext.HasPassability() || deadPath.Contains(cellNext))
{
// has character or dead cell
//Debug.WriteLine(string.Format("Obstacle found"));
if (ignoreDestCharacter)
{
if (cellNext.Equals(cellDest))
{
path.Add(cellNext);
// end
return true;
}
}
if (ignoreObstacle)
{
return FindPath_Good(cellNext, cellDest, direction, path, deadPath,
ignoreDestCharacter, ignoreObstacle, useStraightAngle);
}
else
{
// change direction
Cell cellNextTest = GetPathNextCell(cell, cellDest, direction, deadPath);
if (cellNextTest != null)
{
// if go backward, remove unwanted (dead) cell
if (path.Contains(cellNextTest))
{
int index = path.IndexOf(cellNextTest);
while (path.Count - 1 > index)
{
Cell deadCell = (Cell)path[path.Count - 1];
deadPath.Add(deadCell);
path.RemoveAt(path.Count - 1);
}
}
//Debug.WriteLine(string.Format("ChangeDir, {0},{1},{2}", direction, cellNextTest._row, cellNextTest._col));
cellNext = cellNextTest;
path.Add(cellNext);
// continue to find next cell
cell = cellNext;
}
else
{
// cannot move
// end
Debug.WriteLine(string.Format("No more move"));
return false;
}
return FindPath_Sub(cell, cellDest, path, direction, deadPath,
ignoreDestCharacter, ignoreObstacle, useStraightAngle);
}
}
return FindPath_Good(cellNext, cellDest, direction, path, deadPath,
ignoreDestCharacter, ignoreObstacle, useStraightAngle);
}
private bool FindPath_Good(Cell cellNext, Cell cellDest, CellPartEnum direction, ArrayList path, ArrayList deadPath,
bool ignoreDestCharacter, bool ignoreObstacle, bool useStraightAngle)
{
//Debug.WriteLine(string.Format("Accept cell {0},{1}", cellNext._row, cellNext._col));
path.Add(cellNext);
if (cellNext.Equals(cellDest))
{
// end
//Debug.WriteLine("Reach Destination");
return true;
}
if (useStraightAngle)
direction = CellPartEnum.Center;
else
{
// change direction if has whole/direct angle
double degree = FindDegree(cellNext.GetCenterPoint(), cellDest.GetCenterPoint());
if (Math.Abs(degree) <= 0.05)
direction = CellPartEnum.CenterRight;
else if (Math.Abs(degree - DIGONAL_ANGLE) <= 0.05)
direction = CellPartEnum.LowerRight;
else if (Math.Abs(degree - (180 - DIGONAL_ANGLE)) <= 0.05)
direction = CellPartEnum.LowerLeft;
else if (Math.Abs(degree - 180) <= 0.05)
direction = CellPartEnum.CenterLeft;
else if (Math.Abs(degree - (180 + DIGONAL_ANGLE)) <= 0.05)
direction = CellPartEnum.UpperLeft;
else if (Math.Abs(degree - (360 - DIGONAL_ANGLE)) <= 0.05)
direction = CellPartEnum.UpperRight;
}
return FindPath_Sub(cellNext, cellDest, path, direction, deadPath,
ignoreDestCharacter, ignoreObstacle, useStraightAngle);
}
public bool FindPath(Cell cellSrc, Cell cellDest, ArrayList path,
bool ignoreDestCharacter, bool ignoreObstacle)
{
ArrayList directions = null;
FindDirection(cellSrc.GetCenterPoint(), cellDest.GetCenterPoint(), out directions);
return FindPath(cellSrc, cellDest, path, (CellPartEnum)directions[0],
ignoreDestCharacter, ignoreObstacle, false, false);
}
public bool FindPathAdjBest(Cell cellSrc, Cell cellDest,
bool ignoreDestCharacter, bool ignoreObstacle, out ArrayList path)
{
path = null;
ArrayList directions = new ArrayList();
FindDirection(cellSrc.GetCenterPoint(), cellDest.GetCenterPoint(), out directions);
// use fine path
foreach (CellPartEnum direction in directions)
{
ArrayList path3 = new ArrayList();
if (FindPathAdj(cellSrc, cellDest, direction,
ignoreDestCharacter, ignoreObstacle, false,
out path3))
{
if (path == null || path3.Count < path.Count)
{
path = path3;
}
}
}
//// use straight path
//ArrayList path2 = null;
//if (FindPathAdj(cellSrc, cellDest, (CellPartEnum)directions[0],
// ignoreDestCharacter, ignoreObstacle, true,
// out path2))
//{
// if (path == null || path2.Count < path.Count)
// {
// path = path2;
// }
//}
return true;
}
private Cell GetPathNextCell(Cell cell, Cell cellDest, CellPartEnum direction, ArrayList deadPath)
{
double degree = FindDegree(cell.GetCenterPoint(), cellDest.GetCenterPoint());
switch (direction)
{
case CellPartEnum.CenterRight:
{
// get preferred directions
ArrayList directions = GetPathFavourDirections(degree, direction);
foreach (CellPartEnum direction2 in directions)
{
Cell cellNextTest = GetNextCell(cell, direction2);
if (cellNextTest != null && cellNextTest.HasPassability() && !deadPath.Contains(cellNextTest))
{
//Debug.WriteLine(string.Format("Change direction to {0},{1},{2}", direction2, cellNextTest._row, cellNextTest._col));
return cellNextTest;
}
}
}
break;
case CellPartEnum.CenterLeft:
{
// get preferred directions
ArrayList directions = GetPathFavourDirections(degree, direction);
foreach (CellPartEnum direction2 in directions)
{
Cell cellNextTest = GetNextCell(cell, direction2);
if (cellNextTest != null && cellNextTest.HasPassability() && !deadPath.Contains(cellNextTest))
{
//Debug.WriteLine(string.Format("Change direction to {0},{1},{2}", direction2, cellNextTest._row, cellNextTest._col));
return cellNextTest;
}
}
}
break;
case CellPartEnum.LowerRight:
{
// get preferred directions
ArrayList directions = GetPathFavourDirections(degree, direction);
foreach (CellPartEnum direction2 in directions)
{
Cell cellNextTest = GetNextCell(cell, direction2);
if (cellNextTest != null && cellNextTest.HasPassability() && !deadPath.Contains(cellNextTest))
{
//Debug.WriteLine(string.Format("Change direction to {0},{1},{2}", direction2, cellNextTest._row, cellNextTest._col));
return cellNextTest;
}
}
}
break;
case CellPartEnum.LowerLeft:
{
// get preferred directions
ArrayList directions = GetPathFavourDirections(degree, direction);
foreach (CellPartEnum direction2 in directions)
{
Cell cellNextTest = GetNextCell(cell, direction2);
if (cellNextTest != null && cellNextTest.HasPassability() && !deadPath.Contains(cellNextTest))
{
//Debug.WriteLine(string.Format("Change direction to {0},{1},{2}", direction2, cellNextTest._row, cellNextTest._col));
return cellNextTest;
}
}
}
break;
case CellPartEnum.UpperLeft:
{
// get preferred directions
ArrayList directions = GetPathFavourDirections(degree, direction);
foreach (CellPartEnum direction2 in directions)
{
Cell cellNextTest = GetNextCell(cell, direction2);
if (cellNextTest != null && cellNextTest.HasPassability() && !deadPath.Contains(cellNextTest))
return cellNextTest;
}
}
break;
case CellPartEnum.UpperRight:
{
// get preferred directions
ArrayList directions = GetPathFavourDirections(degree, direction);
foreach (CellPartEnum direction2 in directions)
{
Cell cellNextTest = cell._adjacentCells[direction2];
if (cellNextTest != null && cellNextTest.HasPassability() && !deadPath.Contains(cellNextTest))
{
//Debug.WriteLine(string.Format("Change direction to {0},{1},{2}", direction2, cellNextTest._row, cellNextTest._col));
return cellNextTest;
}
}
}
break;
}
Debug.WriteLine("Change direction but no cell found.");
return null;
}