public Roadmap(Map map, Agent agent, int numberOfSample, int depth)
{
this.map = map;
this.agent = agent;
this.depth = depth;
setSamplePositionList(numberOfSample);
connectPositions();
//int roadMapStartIndex = agent.position.findNearestAndConnectablePositionInRoadmap(this, map);
//int roadMapGoalIndex = agent.goalPosition.findNearestAndConnectablePositionInRoadmap(this, map);
//if (roadMapStartIndex != -1 && roadMapGoalIndex != -1)
//{
// connectPositions();
// findMinimumPathOnGraphWithDijikstra(roadMapStartIndex, roadMapGoalIndex);
//}
}
public int findNearestAndConnectablePositionInRoadmap(Roadmap roadmap,Map map)
{
float minLen = float.MaxValue;
float len;
int index = -1;
for (int i = 0; i < roadmap.samplePositionList.Count; i++)
{
len = Vector2.Distance(this.leftUpCorner, roadmap.samplePositionList[i].leftUpCorner);
if (len < minLen)
{
if (this.isConnectable(roadmap.samplePositionList[i],map))
{
minLen = len;
index = i;
}
}
}
return index;
}
protected override void Initialize()
{
// TODO: Add your initialization logic here
gameMap = new Map(this, gameMapString);
base.Initialize();
}
/// <summary>
/// Seçilmiş harita içerisinde herhangi bu pozisyona bir serbest bir yolun olup olmadığını hesaplar.
/// </summary>
/// <param name="position"></param>
/// <param name="map"></param>
/// <returns></returns>
public bool isConnectable(Position position, Map map)
{
Position virtualPosition = new Position(this.leftUpCorner, this.size);
Vector2 direction;
bool XisSame = false;
bool YisSame = false;
while (true)
{
direction = position.leftUpCorner - virtualPosition.leftUpCorner; // Yön belirlenir.
direction.Normalize();
virtualPosition.leftUpCorner += direction;
if (float.IsNaN(virtualPosition.leftUpCorner.X) || float.IsNaN(virtualPosition.leftUpCorner.Y))
return false;
foreach (Obstacle obs in map.obstacleList)
{
if (virtualPosition.Intersect(obs.position))
return false;
}
if ((Math.Abs(virtualPosition.leftUpCorner.X - position.leftUpCorner.X) <= (Math.Abs(direction.X * 2))) && !XisSame )
{
XisSame = true;
virtualPosition.leftUpCorner.X = position.leftUpCorner.X;
}
if ((Math.Abs(virtualPosition.leftUpCorner.Y - position.leftUpCorner.Y) <= (Math.Abs(direction.Y * 2))) && !YisSame )
{
YisSame = true;
virtualPosition.leftUpCorner.Y = position.leftUpCorner.Y;
}
if (XisSame && YisSame)
return true;
}
}
public bool isOnObstacles(Map gameMap)
{
foreach (Obstacle obs in gameMap.obstacleList)
{
if (this.Intersect(obs.position))
return true;
}
return false;
}
