/// <summary>
/// Gets a dictionary mapping TimedMoves to the agents that already made them
/// and returns a list of agents this TimedMove collides with.
/// </summary>
/// <param name="timedMovesToAgentNumLists"></param>
/// <returns></returns>
public IReadOnlyList <int> GetColliding(ConflictAvoidanceTable timedMovesToAgentNumLists)
{
List <int> ans = null;
Move.Direction saveDirection = this.direction;
Direction[] directions;
if (Constants.ALLOW_DIAGONAL_MOVE)
{
directions = Move.validDirections;
}
else
{
directions = Move.validDirectionsNoDiag;
}
foreach (var direction in directions) // TEMP FIX! Need to get rid of the whole NO_DIRECTION SHTICK! It breaks transitivity!
{
this.direction = direction;
if (timedMovesToAgentNumLists.ContainsKey(this))
{
if (ans == null)
{
ans = new List <int>(timedMovesToAgentNumLists[this]);
}
else
{
ans.AddRange(timedMovesToAgentNumLists[this]);
}
}
}
this.direction = saveDirection;
if (Constants.ALLOW_HEAD_ON_COLLISION == false)
{
this.setOppositeMove();
if (timedMovesToAgentNumLists.ContainsKey(this)) // Check direction too now
{
if (ans == null)
{
ans = new List <int>(timedMovesToAgentNumLists[this]);
}
else
{
ans.AddRange(timedMovesToAgentNumLists[this]);
}
}
this.setOppositeMove();
}
if (ans != null)
{
return(ans);
}
else
{
return(TimedMove.emptyList);
}
}
/// <summary>
/// Updates the conflictCount member according to given CATs. Table may be null.
/// </summary>
/// <param name="CAT"></param>
public void UpdateConflicts(ConflictAvoidanceTable CAT)
{
if (this.prev == null)
{
return;
}
if (CAT != null)
{
for (int i = 0; i < allSteps.Length; i++)
{
if (CAT.ContainsKey(allSteps[i].move))
{
conflictCount += CAT[allSteps[i].move].Count;
}
}
}
}