public bool setTargetPoint(PathNode node)
{
TargetDirList.Clear();
if (lastNode == null)
{
return(false);
}
if (node.isNew || !node.isDead)
{
return(false);
}
if (lastNode == node)
{
return(false);
}
TargetPath = lastNode.gotoNode(node);
if (TargetPath == null)
{
return(false);
}
PathDir dir = LastPathDir;
PathNode nt = null;
foreach (PathNode n in TargetPath)
{
PathType type;
if (nt == null)
{
nt = n;
continue;
}
type = dir.getDir(nt[n]);
dir.Rotate(type);
TargetDirList.Add(type);
nt = n;
}
return(true);
}
public int SearchCheck(int lastPathSelect)
{
int PathOut = -1;
WayLenght = false;
if (!TurnBack)
{
lastPath = (PathType)PathOut;
if ((lastPathSelect & 2) != 0)
{
lastNode[LastDir.Left] = new PathNode(nodescount++);
PathOut = (int)PathType.Left;
}
if ((lastPathSelect & 1) != 0)
{
lastNode[LastDir.Forward] = new PathNode(nodescount++);
PathOut = (int)PathType.Forward;
}
if ((lastPathSelect & 4) != 0)
{
lastNode[LastDir.Right] = new PathNode(nodescount++);
PathOut = (int)PathType.Right;
}
if (PathOut < 0)
{
TargetNode = lastNode;
lastNode = searchStack.Pop();
PathOut = (int)PathType.Back;
LastDir.Rotate(PathType.Back);
TurnBack = true;
}
else
{
WayLenght = true;
searchStack.Push(lastNode);
lastPath = LastDir[(PathType)PathOut];
LastDir.Rotate((PathType)PathOut);
lastNode[lastPath][LastDir.Back] = lastNode;
TargetNode = lastNode;
lastNode = lastNode[lastPath];
}
}
else
{
PathOut = -1;
if ((lastPathSelect & 2) != 0)
{
if (lastNode[LastDir.Left] != null)
{
if (lastNode[LastDir.Left].isNew)
{
PathOut = (int)PathType.Left;
}
}
}
if ((lastPathSelect & 1) != 0)
{
if (lastNode[LastDir.Forward] != null)
{
if (lastNode[LastDir.Forward].isNew)
{
PathOut = (int)PathType.Forward;
}
}
}
if ((lastPathSelect & 4) != 0)
{
if (lastNode[LastDir.Right] != null)
{
if (lastNode[LastDir.Right].isNew)
{
PathOut = (int)PathType.Right;
}
}
}
if (PathOut < 0)
{
if (searchStack.Count > 1)
{
TargetNode = lastNode;
lastPath = lastNode[searchStack.Pop()];
PathOut = (int)LastDir.getDir(lastPath);
lastNode = lastNode[lastPath];
LastDir.Rotate((PathType)PathOut);
}
else
{
if (!isOver)
{
isOver = true;
}
else
{
UpdateEndPoint();
lastlenght = 0;
TargetNode = nodes[PathType.Forward];
return(-1);
}
if (lastNode[PathType.Back].isDead)
{
searchStack.Push(lastNode);
PathOut = (int)LastDir.getDir(lastNode[lastNode[PathType.Back]]);
LastDir.Rotate((PathType)PathOut);
TargetNode = lastNode;
lastNode = lastNode[PathType.Back];
TurnBack = false;
}
}
}
else
{
TargetNode = lastNode;
searchStack.Push(lastNode);
lastPath = LastDir[(PathType)PathOut];
LastDir.Rotate((PathType)PathOut);
lastNode[lastPath][LastDir.Back] = lastNode;
lastNode = lastNode[lastPath];
TurnBack = false;
WayLenght = true;
}
}
return(PathOut);
}