private void correctAgentsCollision(List <Move> preList, ref List <Move> colList /*, ref List<int> addAgentsToDelay*/)
{
bool hasCollision = false;
for (int i = 0; i < colList.Count; i++)
{
for (int j = i + 1; j < colList.Count; j++)
{
Move aMove = colList[i];
Move bMove = colList[j];
if (aMove.IsColliding(bMove))
{
if (aMove.x == preList[i].x && aMove.y == preList[i].y)
{
colList[j] = new Move(preList[j]);
}
else if (bMove.x == preList[j].x && bMove.y == preList[j].y)
{
colList[i] = new Move(preList[i]);
}
else
{
colList[j] = new Move(preList[j]);
colList[i] = new Move(preList[i]);
}
hasCollision = true;
}
}
}
if (hasCollision)
{
correctAgentsCollision(preList, ref colList);
return;
}
}
private bool checkValidBiasPlan(LinkedList <List <Move> > plan, int bias)
{
LinkedListNode <List <Move> > node = plan.First;
LinkedListNode <List <Move> > biasnode;
List <Move> biasMove;
List <Move> cur = node.Value;
bool valid = true;
for (int i = 0; i < plan.Count; i++)
{
for (int j = 0; j < bias + 1; j++)
{
biasnode = node;
for (int p = 0; p < j && biasnode.Next != null; p++)
{
biasnode = biasnode.Next;
}
biasMove = biasnode.Value;
for (int aMove = 0; aMove < plan.First.Value.Count; aMove++)
{
for (int bMove = 0; bMove < plan.First.Value.Count; bMove++)
{
if (aMove == bMove)
{
continue;
}
Move agent1 = cur[aMove];
Move agent2 = biasMove[bMove];
if (agent1.IsColliding(agent2))
{
if (toPrint)
{
Console.WriteLine("Agents " + aMove + " and " + bMove + " collides at time " + i + " bias " + j);
}
valid = false;
}
}
}
}
node = node.Next;
if (node != null)
{
cur = node.Value;
}
}
if (valid)
{
if (toPrint)
{
Console.WriteLine("A valid bias plan!");
}
}
else
{
//if (toPrint)
Console.WriteLine("Not a valid bias plan!");
}
return(valid);
}
/// <summary>
/// Check if this plan collides with another plan at a given time
/// </summary>
/// <param name="time">The time at which to check if the collision occured</param>
/// <param name="otherPlan">The plan to check against</param>
public bool IsColliding(int time, SinglePlan otherPlan)
{
Move thisLocation = this.GetLocationAt(time);
Move otherLocation = otherPlan.GetLocationAt(time);
if (thisLocation.IsColliding(otherLocation) == true) // IsColliding isn't virtual,
// so it doesn't matter whether the moves are actually TimedMoves
// with incorrect time
{
return(true);
}
return(false);
}