private int searchDirection(Cell celaInici, Cell.RoomType roomtype)
{
var rowCells = GridManager.Instance.GetRowCells(celaInici.Y);
Debug.Log("Search direction. Row Count : " + rowCells.Count);
var celesDreta = rowCells.FindAll(cell => cell.X > celaInici.X && cell.GetDirtLevel() > cell.GetTimesPassed() && cell.GetCellType() == Cell.CellType.Floor && cell.GetRoomType() == roomtype);
Debug.Log("Search direction. Right Count : " + celesDreta.Count);
var celesEsquerra = rowCells.FindAll(cell => cell.X <celaInici.X && cell.GetDirtLevel()> cell.GetTimesPassed() && cell.GetCellType() == Cell.CellType.Floor && cell.GetRoomType() == roomtype);
Debug.Log("Search direction. Left Count : " + celesEsquerra.Count);
if (celesEsquerra == null || celesEsquerra.Count == 0)
{
return(1);
}
if (celesDreta == null || celesDreta.Count == 0)
{
return(-1);
}
if (celesEsquerra.Count >= celesDreta.Count)
{
return(1);
}
else
{
return(-1);
}
}
private List <Cell> searchPath(Cell.RoomType roomtype)
{
var direction = searchDirection(currentCell, roomtype);
Debug.Log("Direction : " + direction);
var llista = new List <Cell>();
if (currentCell.GetDirtLevel() > currentCell.GetTimesPassed())
{
llista.Add(currentCell);
Debug.Log("Em quedo netejant la mateixa cela");
return(llista);
}
var horizontalcell = GridManager.Instance.GetCell(currentCell.X + direction, currentCell.Y);
if (horizontalcell != null && horizontalcell.GetCellType() == Cell.CellType.Floor && horizontalcell.GetRoomType() == roomtype && horizontalcell.GetDirtLevel() > horizontalcell.GetTimesPassed())
{
llista.Add(horizontalcell);
Debug.Log("Move Horizontal: " + horizontalcell.ToString());
return(llista);
}
var nextRowCell = GridManager.Instance.GetNextRowCell(currentCell.X, currentCell.Y, roomtype);
if (nextRowCell != null)
{
llista = searchPathA(currentCell, nextRowCell);
llista.RemoveAt(0);
Debug.Log("Move Horizontal A*: " + nextRowCell.ToString());
return(llista);
}
var verticalcell = GridManager.Instance.GetCell(currentCell.X, currentCell.Y + 1);
if (verticalcell != null && verticalcell.GetCellType() == Cell.CellType.Floor && verticalcell.GetRoomType() == roomtype && verticalcell.GetDirtLevel() > verticalcell.GetTimesPassed())
{
llista.Add(verticalcell);
return(llista);
}
var nextColumnCell = GridManager.Instance.GetNextRowCell(currentCell.X, currentCell.Y + 1, roomtype);
if (nextColumnCell != null)
{
llista = searchPathA(currentCell, nextColumnCell);
llista.RemoveAt(0);
return(llista);
}
Debug.LogError("ERROR: Could not find next cell!!!");
return(llista);
}
public Cell StartCell(Cell.RoomType roomtype)
{
var celesRoom = listCell.FindAll(cell => cell.GetRoomType() == roomtype && cell.GetCellType() == Cell.CellType.Floor);
Cell startCell = celesRoom[0];
for (int i = 1; i < celesRoom.Count; i++)
{
if (celesRoom[i].X <= startCell.X && celesRoom[i].Y <= startCell.Y)
{
startCell = celesRoom[i];
}
}
return(startCell);
}
public void CleanRoom(Cell.RoomType roomtype)
{
Debug.Log("---- START CLEANING ROOM ----");
while (!GridManager.Instance.RoomCleaned(roomtype))
{
// Buscar camí
if (battery <= LOW_BATTERY)
{
var nearestChargeCell = GridManager.Instance.NearestChargeCell(currentCell);
var goChargeCell = searchPathA(currentCell, nearestChargeCell);
goChargeCell.RemoveAt(0);
addCellsToPath(goChargeCell);
Debug.Log("Battery after charge: " + battery);
var comeBack = searchPathA(nearestChargeCell, currentCell);
comeBack.RemoveAt(0);
for (int i = comeBack.Count - 1; i >= 0; i--)
{
if (comeBack[i].GetTimesPassed() < comeBack[i].GetDirtLevel() && GridManager.Instance.LowerCellsClean(comeBack[i].Y))
{
if (i < comeBack.Count - 1)
{
comeBack.RemoveRange(i + 1, comeBack.Count - i - 1);
}
break;
}
}
addCellsToPath(comeBack);
currentCell = comeBack[comeBack.Count - 1];
}
else
{
var nextCells = searchPath(roomtype);
addCellsToPath(nextCells);
currentCell = nextCells[nextCells.Count - 1];
}
}
if ((int)roomtype < (GridManager.Instance.GetRoomCount() - 1))
{
var nextRoomStartCell = GridManager.Instance.StartCell(roomtype + 1);
Debug.Log("nextRoomStartCell: " + nextRoomStartCell);
var nextCellsToNextRoom = searchPathA(currentCell, nextRoomStartCell);
nextCellsToNextRoom.RemoveAt(0);
addCellsToPath(nextCellsToNextRoom);
currentCell = nextCellsToNextRoom[nextCellsToNextRoom.Count - 1];
Debug.Log("CurrentCell:" + currentCell.ToString());
Debug.Log("Move to next room: " + (roomtype + 1));
}
}
public Cell GetNextRowCell(int x, int y, Cell.RoomType roomtype)
{
var allRowCell = listCell.FindAll(cell => cell.Y == y && cell.GetDirtLevel() > cell.GetTimesPassed() && cell.GetCellType() == Cell.CellType.Floor && cell.GetRoomType() == roomtype);
if (allRowCell != null && allRowCell.Count > 0)
{
var cellsCount = allRowCell.Count;
if (Math.Abs(allRowCell[0].X - x) < Math.Abs(allRowCell[cellsCount - 1].X - x))
{
return(allRowCell[0]);
}
else
{
return(allRowCell[cellsCount - 1]);
}
}
return(null);
}
public bool RoomCleaned(Cell.RoomType roomtype)
{
return(listCell.Find(cell => cell.GetRoomType() == roomtype && cell.GetCellType() == Cell.CellType.Floor && cell.GetDirtLevel() > cell.GetTimesPassed()) == null);
}
