Dictionary <Move, Tuple <int, int> > atGoalWaitsToTimeAndAgentNum = new Dictionary <Move, Tuple <int, int> >(); // No need for a list of agent nums because goals can't collide :)
public void AddPlan(SinglePlan plan)
{
int planSize = plan.GetSize();
for (int i = 0; i < planSize; i++)
{
Move temp = plan.GetLocationAt(i);
TimedMove step;
if (temp.GetType() == typeof(TimedMove))
{
step = (TimedMove)temp;
}
else
{
step = new TimedMove(temp, i); // TODO: Avoid creating new objects when possible. Make the method return correctly timed moves.
}
if (this.timedMovesToAgentNumList.ContainsKey(step) == false)
{
this.timedMovesToAgentNumList[step] = new List <int>(1); // THIS IS ON THE HOT PATH! ~11% of time is passed on this line!
}
this.timedMovesToAgentNumList[step].Add(plan.agentNum);
}
Move lastMove = plan.GetLocationAt(planSize - 1);
Move goal = new Move(lastMove.x, lastMove.y, Move.Direction.Wait);
this.atGoalWaitsToTimeAndAgentNum.Add(goal, new Tuple <int, int>(planSize, plan.agentNum));
}
/// <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);
}