public Roadmap(Map map, Agent agent, int numberOfSample, int depth)
{
this.map = map;
this.agent = agent;
this.depth = depth;
setSamplePositionList(numberOfSample);
connectPositions();
//int roadMapStartIndex = agent.position.findNearestAndConnectablePositionInRoadmap(this, map);
//int roadMapGoalIndex = agent.goalPosition.findNearestAndConnectablePositionInRoadmap(this, map);
//if (roadMapStartIndex != -1 && roadMapGoalIndex != -1)
//{
// connectPositions();
// findMinimumPathOnGraphWithDijikstra(roadMapStartIndex, roadMapGoalIndex);
//}
}
protected override void LoadContent()
{
spriteBatch = new SpriteBatch(GraphicsDevice);
obstacleTexture = Content.Load<Texture2D>("obstacleImage");
Texture2D tempTexture = Content.Load<Texture2D>("ball");
goalPositionImageTexture = Content.Load<Texture2D>("goalPositionImage");
Position agent1StartPosition = new Position(new Vector2(10, 10), new Vector2(tempTexture.Width, tempTexture.Height));
Position agent1FinishPosition = new Position(new Vector2(800, 500), new Vector2(tempTexture.Width, tempTexture.Height));
agent1 = new Agent(this, tempTexture, "Agent1", Color.DarkBlue, agent1StartPosition, agent1FinishPosition);
roadmap = new Roadmap(gameMap, agent1, sampleSize, depth);
}
