private static void CreatePath(State state, Point start, List <Point> notVisitedTargets,
PathWithCost resultPath, PathWithTarget bestPath)
{
CorrectBestPath(bestPath, resultPath, notVisitedTargets);
var pathFinder = new DijkstraPathFinder();
var paths = pathFinder.GetPathsByDijkstra(state, start, notVisitedTargets);
foreach (var path in paths)
{
var cost = resultPath.Cost + path.Cost;
if (cost <= state.Energy)
{
notVisitedTargets.Remove(path.End);
var way = resultPath.Path.ToList();
way.AddRange(path.Path.Skip(1));
CreatePath(state, path.End, notVisitedTargets,
new PathWithCost(cost, way.ToArray()), bestPath);
if (bestPath.NumberOfTargets == 0)
{
return;
}
notVisitedTargets.Add(path.End);
}
}
}
private static void CorrectBestPath(PathWithTarget bestPath, PathWithCost resultPath,
List <Point> notVisitedTargets)
{
if (bestPath.NumberOfTargets > notVisitedTargets.Count)
{
bestPath.Path = resultPath.Path.ToList();
bestPath.NumberOfTargets = notVisitedTargets.Count;
}
}
public List <Point> FindPathToCompleteGoal(State state)
{
var notVisitedChests = state.Chests.ToList();
var start = state.Position;
var resultPath = new PathWithCost(0, start);
var bestPath = new PathWithTarget(new List <Point>(), state.Chests.Count);
CreatePath(state, start, notVisitedChests, resultPath, bestPath);
return(bestPath.Path.Skip(1).ToList());
}