private static void GetNextGridPoint_CountGreater1(ITrack track, ICar car, IList <Point> routeGridPoints, Point middleGridPoint,
out uint nrBacktracks, out Point gridPoint)
{
nrBacktracks = 0;
// get candidate grid point set from car and then remove those that are invalid because of the track and remove the current point
IList <Point> candidateGridPointsFiltered = ComputerDriverHelper.FilterCandidatePoints_RemoveInvalids
(track, car.GetCandidateGridPoints(routeGridPoints), routeGridPoints);
if (candidateGridPointsFiltered.Count == 0)
{
// remark this is not a solution, because we do not have a better grid point
nrBacktracks = 1;
return;
}
// now find the "optimum" among the valid candidate grid points
bool optimumPointFound = false;
ComputerDriverHelper.GetNextGridPoint_CountGreater1_FindOptimum(routeGridPoints, candidateGridPointsFiltered, middleGridPoint, true, out optimumPointFound, out gridPoint);
if (optimumPointFound == false)
{
// no optimum was found, this can happen because all grid points have an "invalid" direction
// take one of the closest to the current point, ignoring the direction
IList <Point> closestPoints2CurrentPoint = VectorMath.FindPointsInTheListClosest2FixPoint(routeGridPoints.Last(), candidateGridPointsFiltered);
gridPoint = closestPoints2CurrentPoint[0];
}
}
private void GetNextGridPoint_CountGreater1_Backtrack(ITrack track, ICar car, IList <Point> routeGridPoints, Point middleGridPoint,
out uint nrBacktracks, out Point gridPoint)
{
bool foundOne = false;
nrBacktracks = 0; // only a dummy value
while (foundOne == false)
{
mBacktrackLevel++;
nrBacktracks = mBacktrackLevel;
// doing backtracking of routeGridPoints
IList <Point> routeGridPointsLessTheLast = routeGridPoints.ToList();
for (uint index = 0; index < mBacktrackLevel; index++)
{
// add those that we backtrack to backtrack list so that we do not try them again
if (mBacktrackedRouteGridPoints.Contains(routeGridPointsLessTheLast[routeGridPointsLessTheLast.Count - 1]) == false)
{
mBacktrackedRouteGridPoints.Add(routeGridPointsLessTheLast[routeGridPointsLessTheLast.Count - 1]);
}
routeGridPointsLessTheLast.RemoveAt(routeGridPointsLessTheLast.Count - 1);
}
IList <Point> candidateGridPointsFilteredLessTheLast = ComputerDriverHelper.FilterCandidatePoints_RemoveInvalids
(track, car.GetCandidateGridPoints(routeGridPointsLessTheLast), routeGridPointsLessTheLast);
// remove the backtracked points
IList <Point> nextFilter = candidateGridPointsFilteredLessTheLast.Except(mBacktrackedRouteGridPoints).ToList();
if (nextFilter.Count > 0)
{
foundOne = true;
bool carefulOptimumPointFound;
// we are too risky, use the careful computer driver -> option 4: closest = true
ComputerDriverHelper.GetNextGridPoint_CountGreater1_FindOptimum(routeGridPointsLessTheLast, nextFilter,
middleGridPoint, true, out carefulOptimumPointFound, out gridPoint);
}
}
}