/// <summary>
/// get all passed nodes on the way.
/// </summary>
/// <param name="startTime">The current time.</param>
/// <param name="currentSpeed">The current speed.</param>
/// <param name="physics">The physics.</param>
/// <param name="startNode">The start node.</param>
/// <param name="destinationNode">The destination node.</param>
/// <param name="checkpointNodes">The checkpoint nodes.</param>
/// <param name="checkpointTimes">The checkpoint times.</param>
/// <returns>
/// check point nodes + times
/// </returns>
public bool GetCheckPointNodes(double startTime, double currentSpeed, Physic.Physics physics, int startNode, int destinationNode, out List <int> checkpointNodes, out List <double> checkpointTimes)
{
//get checkpoints
checkpointNodes = _graph.getIntermediateNodes(startNode, destinationNode);
checkpointTimes = null;
if (checkpointNodes == null)
{
return(false); //no valid way point
}
checkpointNodes.Insert(0, startNode);
checkpointNodes.Add(destinationNode);
var checkpointDistances = new List <double>();
foreach (var node in checkpointNodes)
{
checkpointDistances.Add(_graph.getDistance(startNode, node));
}
physics.getTimeNeededToMove(currentSpeed, startTime, checkpointDistances[checkpointDistances.Count - 1], checkpointDistances, out checkpointTimes);
return(true);
}
/// <summary>
/// Creates the intervals for the given parameters.
///
/// Node 1 2 3 4 ____________ startIntervalAt
/// |
/// |
/// | ____________ startDrivingAT
/// \
/// \
/// \
/// \
/// \ _____________
/// |
/// | addIntervallToInfinity == true
///
/// </summary>
/// <param name="startIntervalAt">The point in time where the intervals should start.</param>
/// <param name="startDrivingAt">The point in time the agent starts driving.</param>
/// <param name="currentSpeed">The current speed.</param>
/// <param name="physics">The physics.</param>
/// <param name="startNode">The start node.</param>
/// <param name="destinationNode">The destination node.</param>
/// <param name="addIntervalToInfinity">if set to <c>true</c> to create intervals until double.PositiveInfinity.</param>
/// <returns>
/// false, if there is an intersection
/// </returns>
public List <Interval> CreateIntervals(double startIntervalAt, double startDrivingAt, double currentSpeed, Physic.Physics physics, int startNode, int destinationNode, bool addIntervalToInfinity)
{
if (currentSpeed > 0 && startIntervalAt == startDrivingAt)
{
throw new ArgumentException("The agent is already driving => startIntervalAt must be equal to startDrivingAt!");
}
List <int> checkPointNodes;
List <double> checkPointTimes;
var valid = this.GetCheckPointNodes(startDrivingAt, currentSpeed, physics, startNode, destinationNode, out checkPointNodes, out checkPointTimes);
if (!valid)
{
return(null);
}
return(this.CreateIntervals(startIntervalAt, checkPointNodes, checkPointTimes, addIntervalToInfinity));
}
