private static List <TilePosition> CalculateLinePath(List <TilePosition> aStarPath, bool[,] obstacleMap)
{
List <TilePosition> result = new List <TilePosition>();
for (int i = 0; i < aStarPath.Count - 1;)
{
TilePosition start = aStarPath[i];
if (i == 0)
{
result.Add(start);
}
for (int j = aStarPath.Count - 1; j > i; j--)
{
TilePosition end = aStarPath[j];
List <TilePosition> line = LinearizationHelper.BresenhamLine(start, end);
bool blocked = false;
foreach (TilePosition lineIndex in line)
{
if (obstacleMap[lineIndex.Row, lineIndex.Column])
{
blocked = true;
break;
}
}
if (!blocked)
{
result.Add(end);
i = j;
}
else
{
if (j == i + 1)
{
result.Add(end);
return(result);
}
}
}
}
return(result);
}
private static List <TilePosition> CalculateLinePath(List <TilePosition> aStarPath, bool[,] obstacleMap)
{
List <TilePosition> result = new List <TilePosition>();
/*
* Debug.Log("------------------------------------------");
* foreach (TilePosition at in aStarPath)
* {
* Debug.Log("astar pt is row:" + at.Row + "astar pt column is:" + at.Column);
* }
*/
List <TilePosition> needLinePath = new List <TilePosition>();
needLinePath.Add(aStarPath[0]);
for (int i = 1; i < aStarPath.Count; i++)
{
needLinePath.Add(aStarPath[i]);
if (obstacleMap[aStarPath[i].Row, aStarPath[i].Column])
{
break;
}
}
for (int i = 0; i < needLinePath.Count - 1;)
{
TilePosition start = needLinePath[i];
if (i == 0)
{
result.Add(start);
}
for (int j = needLinePath.Count - 1; j > i; j--)
{
TilePosition end = needLinePath[j];
List <TilePosition> line = LinearizationHelper.BresenhamLine(start, end);
/*
* Debug.Log("line pt is:" + line.Count + ".start point row is:" + start.Row + "start point column is:" + start.Column +
* ".end point row is:" + end.Row + "end point column is:" + end.Column);
* foreach (TilePosition lt in line)
* {
* //Debug.Log("find the error");
* Debug.Log("row is:" + lt.Row + ",column is:" + lt.Column);
* }
*/
bool blocked = false;
foreach (TilePosition lineIndex in line)
//for(int k = i==0 ? 1 : 0; k < line.Count; k ++)
{
//TilePosition lineIndex = line[k];
if (obstacleMap[lineIndex.Row, lineIndex.Column])
{
//Debug.Log("**********************");
//Debug.Log(lineIndex.Row + " , " + lineIndex.Column);
blocked = true;
//Debug.Log("**********************");
break;
}
}
if (!blocked)
{
result.Add(end);
i = j;
}
else
{
if (j == i + 1)
{
result.Add(end);
return(result);
}
}
}
}
return(result);
}
