/// <summary>
/// 如果无解返回null。
/// </summary>
/// <param name="act"></param>
/// <param name="name"></param>
/// <param name="parameter"></param>
/// <param name="currentSteps"></param>
/// <param name="maxStepsToSolution"></param>
/// <param name="enlargedGrid"></param>
/// <returns></returns>
private LinkedList <Action> TestAction(Func <double, Car> act, ActionDirection name, double parameter, int currentSteps, int maxStepsToSolution, bool enlargedGrid)
{
Car vc = act(parameter);
currentSteps++; //执行好act，所以又走了一步了！
Point center = vc.Center;
if (center.X > 0 && center.Y > 0 &&
center.X < Map.Size.Width && center.Y < Map.Size.Height &&
IsShorterPath(center, vc.Orientation, currentSteps, enlargedGrid))
{
//不会碰到其他车
if (DoesCollide(vc.GetBound()) == false)
{
var list = SolveInternal(vc, currentSteps, maxStepsToSolution);
if (list != null) //有解
{
list.AddFirst(new Action {
ActionDirection = name, Parameter = parameter
});
//if(bestSolution==null)
// bestSolution=list;
return(list);
}
}
}
return(null);
}
private void Draw(Car car, bool fill, DoubleCollection strokeDashArray)
{
//Polygon polygon = new Polygon();
//polygon.Stroke = Brushes.LightSeaGreen;
//if (fill)
// polygon.Fill = Brushes.LightSeaGreen;
//polygon.StrokeDashArray = strokeDashArray;
//polygon.Points.Add(car.GetLeftFrontCorner());
//polygon.Points.Add(car.GetRightFrontCorner());
//polygon.Points.Add(car.GetRightBackCorner());
//polygon.Points.Add(car.GetLeftBackCorner());
//Canvas.Children.Add(polygon);
Geometry geo = car.GetBound();
Path path = new Path();
path.Stroke = Brushes.LightSeaGreen;
path.StrokeDashArray = strokeDashArray;
path.Data = geo;
Canvas.Children.Add(path);
Line arrowLine1 = new Line();
arrowLine1.Stroke = Brushes.Red;
arrowLine1.StrokeThickness = 2;
arrowLine1.StrokeDashArray = strokeDashArray;
arrowLine1.X1 = car.Center.X;
arrowLine1.Y1 = car.Center.Y;
Matrix m = Matrix.Identity;
m.Rotate(car.Orientation);
m.Translate(car.Center.X, car.Center.Y);
double arrowLength = car.Length / 2 / 3 * 2;
Point p = new Point(0, arrowLength);
p = m.Transform(p);
arrowLine1.X2 = p.X;
arrowLine1.Y2 = p.Y;
Canvas.Children.Add(arrowLine1);
Point pl = new Point(-car.Width / 2 / 4, arrowLength - car.Width / 2 / 3);
pl = m.Transform(pl);
Line arrowLine2 = new Line();
arrowLine2.Stroke = Brushes.Red;
arrowLine2.StrokeThickness = 2;
arrowLine2.StrokeDashArray = strokeDashArray;
arrowLine2.X1 = p.X;
arrowLine2.Y1 = p.Y;
arrowLine2.X2 = pl.X;
arrowLine2.Y2 = pl.Y;
Canvas.Children.Add(arrowLine2);
Point pr = new Point(car.Width / 2 / 4, arrowLength - car.Width / 2 / 3);
pr = m.Transform(pr);
Line arrowLine3 = new Line();
arrowLine3.Stroke = Brushes.Red;
arrowLine3.StrokeThickness = 2;
arrowLine3.StrokeDashArray = strokeDashArray;
arrowLine3.X1 = p.X;
arrowLine3.Y1 = p.Y;
arrowLine3.X2 = pr.X;
arrowLine3.Y2 = pr.Y;
Canvas.Children.Add(arrowLine3);
}