private void HexSimulation()
{
var hexMap = _mapFactory.GetHexMap();
_vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
var finished = false;
var totalMoves = 0;
while (!finished)
{
totalMoves += 1;
_simulationResults.HexPath.Add(_vehicle.CurrentHexCell);
var detectionCells = DetectionHead.GetCoveredCells(hexMap.Graph, _vehicle.CurrentHexCell, _vehicle.DetectorRadius, _vehicle.TurnRadius);
//Check Cells for mine
var detection = CheckCells(detectionCells);
//mark as cleared
hexMap.Graph.SetCellsTerrainType(detectionCells, hexMap.ClearedTerrain);
//Handle any detections
if (detection)
{
_reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
}
//If the reactive Planner is not empty, empty it before the optimal.
if (_reactivePathPlanner.ReactiveHexPath.TryDequeue(out var next))
{
_vehicle.CurrentHexCell = next;
}
//Else we will work off of the optimal path
else
{
//If the optimal path is empty we are done otherwise pop.
if (!optimalPath.TryDequeue(out var nextOptimal))
{
finished = true;
continue;
}
if (hexMap.Graph.IsCellBlocked(nextOptimal))
{
_reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
}
else
{
_vehicle.CurrentHexCell = nextOptimal;
}
}
}
//Debugging information
var(cleared, uncleared) = CoveredCells();
_simulationResults.HexClearedCells = cleared;
_simulationResults.HexUnClearedCells = uncleared;
_simulationResults.HexTotalMoves = totalMoves;
_simulationResults.HexBombsFound = hexBombsFound.Count;
_simulationResults.HexMappedBombs = hexBombsFound.ToList();
foreach (var cell in hexMap.Graph.GetAllCells())
{
if (cell.TerrainType.Id == hexMap.ClearedTerrain.Id)
{
_simulationResults.HexCoveredCells.Add(cell.Coordinate3.To2D(hexMap.OffsetType));
}
}
}