public void traverseMapStep()
{
SearchAlgorithm search;
search = new AStar(knownMap, positionX, positionY, targetX, targetY);
givenPath = search.getPath();
if ((positionX == targetX) && (positionY == targetY))
{
atTarget = true;
}
if (givenPath.Count == 0)
{
atTarget = true;
}
PathNode nextNode = givenPath.Last();
givenPath.Remove(nextNode);
if (isNextNodeSafe(nextNode) == true)
{
positionX = nextNode.x;
positionY = nextNode.y;
takenPath.Add(nextNode);
updateOwnMap(positionX, positionY);
}
else
{
updateOwnMap(nextNode.x, nextNode.y);
}
}
public void findPath(int startX , int startY , int targetX , int targetY)
{
SearchAlgorithm aStar = new AStar(hazardModel , startX , startY , targetX , targetY);
pathNodes = aStar.getPath();
}
public void traverseMap(int startXt, int startYt, int endXt, int endYt)
{
steps = 0;
startX = startXt;
startY = startYt;
targetX = endXt;
targetY = endYt;
positionX = startX;
positionY = startY;
bool atTarget = false;
SearchAlgorithm search;
do
{
search = new AStar(knownMap,positionX , positionY , targetX , targetY);
givenPath = search.getPath();
do
{
if (steps >= 1600)
{
atTarget = true;
break;
}
steps++;
if( (positionX == targetX) && (positionY == targetY))
{
atTarget = true;
break;
}
if (givenPath.Count == 0)
{
atTarget = true;
break;
}
PathNode nextNode = givenPath.Last();
givenPath.Remove(nextNode);
if (isNextNodeSafe(nextNode) == true)
{
previousX = positionX;
previousY = positionY;
positionX = nextNode.x;
positionY = nextNode.y;
takenPath.Add(nextNode);
updateOwnMap(positionX, positionY);
}
else
{
updateOwnMap(nextNode.x, nextNode.y);
break;
}
}while(true);
} while (atTarget == false);
}
