private Boolean isWall(Position pos)
{
if (pos.getX() < 0 || pos.getY() < 0 || pos.getX() > valueMap.Length - 1 || pos.getY() > valueMap[0].Length - 1)
{
return(true);
}
return(valueMap[pos.getX()][pos.getY()] == 0);
}
public override string[] calculatePath()
{
List <string> path = new List <string>();
while (goalPos.Count > 0)
{
Position target = new Position(-3, -3);
string[] pathstep = new string[0];
foreach (Position position in goalPos)
{
if (target.getX() == -3 && target.getY() == -3)
{
target = position;
pathstep = getPathTo(position);
continue;
}
string[] tmp = getPathTo(position);
if (tmp.Length < pathstep.Length)
{
target = position;
pathstep = tmp;
}
}
path.AddRange(pathstep);
agent.reset(target);
goalPos.Remove(target);
}
return(path.ToArray());
}
public int getDistanceTo(Position target)
{
return(Math.Abs((x) - target.getX()) + Math.Abs((y) - target.getY()));
}