public int SearchCheck(int lastPathSelect)
{
int PathOut = -1;
WayLenght = false;
if (!TurnBack)
{
lastPath = (PathType)PathOut;
if ((lastPathSelect & 2) != 0)
{
lastNode[LastDir.Left] = new PathNode(nodescount++);
PathOut = (int)PathType.Left;
}
if ((lastPathSelect & 1) != 0)
{
lastNode[LastDir.Forward] = new PathNode(nodescount++);
PathOut = (int)PathType.Forward;
}
if ((lastPathSelect & 4) != 0)
{
lastNode[LastDir.Right] = new PathNode(nodescount++);
PathOut = (int)PathType.Right;
}
if (PathOut < 0)
{
TargetNode = lastNode;
lastNode = searchStack.Pop();
PathOut = (int)PathType.Back;
LastDir.Rotate(PathType.Back);
TurnBack = true;
}
else
{
WayLenght = true;
searchStack.Push(lastNode);
lastPath = LastDir[(PathType)PathOut];
LastDir.Rotate((PathType)PathOut);
lastNode[lastPath][LastDir.Back] = lastNode;
TargetNode = lastNode;
lastNode = lastNode[lastPath];
}
}
else
{
PathOut = -1;
if ((lastPathSelect & 2) != 0)
{
if (lastNode[LastDir.Left] != null)
{
if (lastNode[LastDir.Left].isNew)
{
PathOut = (int)PathType.Left;
}
}
}
if ((lastPathSelect & 1) != 0)
{
if (lastNode[LastDir.Forward] != null)
{
if (lastNode[LastDir.Forward].isNew)
{
PathOut = (int)PathType.Forward;
}
}
}
if ((lastPathSelect & 4) != 0)
{
if (lastNode[LastDir.Right] != null)
{
if (lastNode[LastDir.Right].isNew)
{
PathOut = (int)PathType.Right;
}
}
}
if (PathOut < 0)
{
if (searchStack.Count > 1)
{
TargetNode = lastNode;
lastPath = lastNode[searchStack.Pop()];
PathOut = (int)LastDir.getDir(lastPath);
lastNode = lastNode[lastPath];
LastDir.Rotate((PathType)PathOut);
}
else
{
if (!isOver)
{
isOver = true;
}
else
{
UpdateEndPoint();
lastlenght = 0;
TargetNode = nodes[PathType.Forward];
return(-1);
}
if (lastNode[PathType.Back].isDead)
{
searchStack.Push(lastNode);
PathOut = (int)LastDir.getDir(lastNode[lastNode[PathType.Back]]);
LastDir.Rotate((PathType)PathOut);
TargetNode = lastNode;
lastNode = lastNode[PathType.Back];
TurnBack = false;
}
}
}
else
{
TargetNode = lastNode;
searchStack.Push(lastNode);
lastPath = LastDir[(PathType)PathOut];
LastDir.Rotate((PathType)PathOut);
lastNode[lastPath][LastDir.Back] = lastNode;
lastNode = lastNode[lastPath];
TurnBack = false;
WayLenght = true;
}
}
return(PathOut);
}
//public List<PathNode> getAllNode(List<PathNode> list = null)
//{
// List<PathNode> nodes = list;
// if (nodes == null)
// {
// nodes = new List<PathNode>();
// }
// for (int i = 0; i < paths.Length; i++)
// {
// if (this.paths[i] != null)
// {
// if (nodes.Contains(this.paths[i])) continue;
// nodes.Add(this.paths[i]);
// this.paths[i].getAllNode(nodes);
// }
// }
// return nodes;
//}
List <PathNode> DrawPathList(int x, int y, PathNode node, List <PathNode> pathlist = null, List <Point> ps = null)
{
List <PathNode> nodes = pathlist;
List <Point> Points = ps;
bool f = false;
if (nodes == null)
{
f = true;
Points = new List <Point>();
nodes = new List <PathNode>();
}
int ax = 0, ay = 0;
int w;
for (int i = 0; i < node.paths.Length; i++)
{
if (node.paths[i] != null)
{
if (nodes.Contains(node.paths[i]))
{
continue;
}
if ((w = node.pathlenght[i]) == 0)
{
w = width;
}
switch ((PathType)i)
{
case PathType.Forward:
ax = 0;
ay = -w;
break;
case PathType.Left:
ax = -w;
ay = 0;
break;
case PathType.Right:
ax = w;
ay = 0;
break;
case PathType.Back:
ax = 0;
ay = w;
break;
}
node.paths[i].x = x + ax;
node.paths[i].y = y + ay;
if (!node.paths[i].isDead)
{
Draw.DrawLine(norpen, x, y, x + ax, y + ay);
Draw.FillEllipse(norBrush, new Rectangle(x + ax - 2, y + ay - 2, 4, 4));
//if (lastNode == node.paths[i])
// Draw.DrawEllipse(targetpen, new Rectangle(x + ax - 5, y + ay - 5, 10, 10));
}
else if (node.paths[i].isNew)
{
Draw.DrawLine(newpen, x, y, x + ax, y + ay);
//node.paths[i].x = x + ax;
//node.paths[i].y = y + ay;
}
else
{
Draw.DrawLine(norpen, x, y, x + ax, y + ay);
//Draw.DrawEllipse(deadpen, new Rectangle(x + ax - 5, y + ay - 5, 10, 10));
//if (lastNode == node.paths[i])
// Draw.DrawEllipse(targetpen, new Rectangle(x + ax - 5, y + ay - 5, 10, 10));
Draw.DrawString(node.paths[i].pathName, strFont, Brushes.Black, x + ax + 5, y + ay + 5);
//node.paths[i].x = x + ax;
//node.paths[i].y = y + ay;
Points.Add(new Point(node.paths[i].x, node.paths[i].y));
}
nodes.Add(node.paths[i]);
DrawPathList(x + ax, y + ay, node.paths[i], nodes, Points);
}
}
if (f)
{
foreach (Point p in Points)
{
Draw.FillRectangle(deadBrush, p.X - 8, p.Y - 8, 16, 16);
}
Draw.FillEllipse(targetBrush, new Rectangle(lastNode.x - 5, lastNode.y - 5, 10, 10));
}
return(nodes);
}