/*
* Loop検知中の移動
* data:GetReadyで取得した周囲情報
* return:true(回避行動中)
* false(回避行動中止、通常動作に戻る)
*/
public bool LoopWalk(int[] data)
{
List <short> walk_course = new List <short> {
Action_encode.Walkup(),
Action_encode.Walkdown(),
Action_encode.Walkright(),
Action_encode.Walkleft()
};
if (data[1] == (int)Field.Block)
{
walk_course.Remove(Action_encode.Walkup());
}
if (data[7] == (int)Field.Block)
{
walk_course.Remove(Action_encode.Walkdown());
}
if (data[5] == (int)Field.Block)
{
walk_course.Remove(Action_encode.Walkright());
}
if (data[3] == (int)Field.Block)
{
walk_course.Remove(Action_encode.Walkleft());
}
switch (kcode_hold)
{
case 0:
System.Random random = new System.Random();
int rand_data = random.Next(walk_course.Count);
kcode_hold = walk_course[rand_data];
kcode = walk_course[rand_data];
break;
default:
if (walk_course.Contains(kcode_hold) == true)
{
kcode = kcode_hold;
}
else
{
goto case 0;
}
break;
}
return(true);
}
private void SlantingWalk(ref int[] data)
{
switch (kMode)
{
case 1://右上
if (data[5] != (int)Field.Block)
{
kMode = 2;
kcode = Action_encode.Walkright();
}
else if (data[2] != (int)Field.Block && data[1] != (int)Field.Block)
{
kMode = 1;
kcode = Action_encode.Walkup();
}
else if (data[3] != (int)Field.Block)
{
kMode = 5;
kcode = Action_encode.Walkleft();
}
else if (data[1] != (int)Field.Block)
{
kMode = 6;
kcode = Action_encode.Walkup();
}
else// if (data[7] != (int)Field.Block)
{
kMode = 8;
kcode = Action_encode.Walkdown();
}
break;
case 2:
if (data[1] != (int)Field.Block)
{
kMode = 1;
kcode = Action_encode.Walkup();
}
else if (data[2] != (int)Field.Block && data[5] != (int)Field.Block)
{
kMode = 2;
kcode = Action_encode.Walkright();
}
else if (data[7] != (int)Field.Block)
{
kMode = 4;
kcode = Action_encode.Walkdown();
}
else if (data[5] != (int)Field.Block)
{
kMode = 2;
kcode = Action_encode.Walkright();
}
else// if (data[3] != (int)Field.Block)
{
kMode = 7;
kcode = Action_encode.Walkleft();
}
break;
case 3://右下
if (data[5] != (int)Field.Block)
{
kMode = 4;
kcode = Action_encode.Walkright();
}
else if (data[8] != (int)Field.Block && data[7] != (int)Field.Block)
{
kMode = 3;
kcode = Action_encode.Walkdown();
}
else if (data[3] != (int)Field.Block)
{
kMode = 7;
kcode = Action_encode.Walkleft();
}
else if (data[7] != (int)Field.Block)
{
kMode = 8;
kcode = Action_encode.Walkdown();
}
else //if (data[1] != (int)Field.Block)
{
kMode = 6;
kcode = Action_encode.Walkup();
}
break;
case 4:
if (data[7] != (int)Field.Block)
{
kMode = 3;
kcode = Action_encode.Walkdown();
}
else if (data[8] != (int)Field.Block && data[5] != (int)Field.Block)
{
kMode = 4;
kcode = Action_encode.Walkright();
}
else if (data[1] != (int)Field.Block)
{
kMode = 2;
kcode = Action_encode.Walkup();
}
else if (data[5] != (int)Field.Block)
{
kMode = 1;
kcode = Action_encode.Walkright();
}
else //if (data[3] != (int)Field.Block)
{
kMode = 5;
kcode = Action_encode.Walkleft();
}
break;
case 5://左上
if (data[3] != (int)Field.Block)
{
kMode = 6;
kcode = Action_encode.Walkleft();
}
else if (data[1] != (int)Field.Block && data[0] != (int)Field.Block)
{
kMode = 5;
kcode = Action_encode.Walkup();
}
else if (data[5] != (int)Field.Block)
{
kMode = 1;
kcode = Action_encode.Walkright();
}
else if (data[1] != (int)Field.Block)
{
kMode = 2;
kcode = Action_encode.Walkup();
}
else //if (data[7] != (int)Field.Block)
{
kMode = 4;
kcode = Action_encode.Walkdown();
}
break;
case 6:
if (data[1] != (int)Field.Block)
{
kMode = 5;
kcode = Action_encode.Walkup();
}
else if (data[3] != (int)Field.Block && data[0] != (int)Field.Block)
{
kMode = 6;
kcode = Action_encode.Walkleft();
}
else if (data[7] != (int)Field.Block)
{
kMode = 8;
kcode = Action_encode.Walkdown();
}
else if (data[3] != (int)Field.Block)
{
kMode = 7;
kcode = Action_encode.Walkleft();
}
else// if (data[5] != (int)Field.Block)
{
kMode = 3;
kcode = Action_encode.Walkright();
}
break;
case 7://左下
if (data[3] != (int)Field.Block)
{
kMode = 8;
kcode = Action_encode.Walkleft();
}
else if (data[7] != (int)Field.Block && data[6] != (int)Field.Block)
{
kMode = 7;
kcode = Action_encode.Walkdown();
}
else if (data[5] != (int)Field.Block)
{
kMode = 3;
kcode = Action_encode.Walkright();
}
else if (data[7] != (int)Field.Block)
{
kMode = 4;
kcode = Action_encode.Walkdown();
}
else// if (data[1] != (int)Field.Block)
{
kMode = 2;
kcode = Action_encode.Walkup();
}
break;
case 8:
if (data[7] != (int)Field.Block)
{
kMode = 7;
kcode = Action_encode.Walkdown();
}
else if (data[3] != (int)Field.Block && data[6] != (int)Field.Block)
{
kMode = 8;
kcode = Action_encode.Walkleft();
}
else if (data[1] != (int)Field.Block)
{
kMode = 6;
kcode = Action_encode.Walkup();
}
else if (data[3] != (int)Field.Block)
{
kMode = 5;
kcode = Action_encode.Walkleft();
}
else// if (data[5] != (int)Field.Block)
{
kMode = 1;
kcode = Action_encode.Walkright();
}
break;
default:
kcode = Action_encode.Walkup();
break;
}
}