private void CalculateBestRoute(ITrack track, ICar car, IList <Point> routeGridPoints, Point middleGridPoint)
{
IList <Point> candidateGridPoints = GetCandidatePoints(track, car, routeGridPoints);
IList <Point> candidateGridPointsFiltered = ComputerDriverHelper.FilterCandidatePoints_RemoveInvalids
(track, candidateGridPoints, routeGridPoints);
if (candidateGridPointsFiltered.Count == 0)
{
// backtrack, because we are at a dead end
routeGridPoints.RemoveAt(routeGridPoints.Count - 1);
return;
}
// we only take candidate grid points with a quadrant valid direction
IList <Point> candidateGridPointsFilteredQuadrantDir = ComputerDriverHelper.FilterCandidatePoints_RemoveUnfavorableDir
(candidateGridPointsFiltered, routeGridPoints, middleGridPoint);
for (int index = 0; index < candidateGridPointsFilteredQuadrantDir.Count; index++)
{
Point newPoint = candidateGridPointsFilteredQuadrantDir[index];
if (track.CheckIfRaceIsFinished(routeGridPoints, newPoint))
{
// we have found one complete route that finishes
routeGridPoints.Add(newPoint);
// now compare if this is better than the previous one
if (IsThisBetterThanCurrentBestRoute(routeGridPoints))
{
// yes it is better -> overwrite
mCurrentBestRoute = routeGridPoints.ToList();
}
else
{
// ignore it
routeGridPoints.RemoveAt(routeGridPoints.Count - 1);
}
}
else
{
// continue route to finish the race
routeGridPoints.Add(newPoint);
CalculateBestRoute(track, car, routeGridPoints, middleGridPoint);
}
}
}
/// <summary>
/// The movement vector is valid, now deal with it and
/// - paint the movement vector
/// - increase counter
/// - detect if race is finished
/// </summary>
/// <param name="gridPointClicked"></param>
private void HandleValidMovementVector(Point gridPointClicked)
{
// paint the movement vector
IList <UIElement> uiElemsMovVector = MovementVectorPainter.PaintMovementVector
(xMyCanvas.Children, mRouteGridPoints.Last(), gridPointClicked);
for (int index = 0; index < uiElemsMovVector.Count; index++)
{
mRouteElements.Add(uiElemsMovVector[index]);
}
// verify if the race is finished, it is simpler to do this before adding the grid point
bool raceFinished = mActiveTrack.CheckIfRaceIsFinished(mRouteGridPoints, gridPointClicked);
mRouteGridPoints.Add(gridPointClicked);
xNrVectors.Text = GetNrOfVectors().ToString();
if (raceFinished)
{
FinishRace();
}
}
