private int UseSubgoalAStar(int x, int centerY)
{
Log.LogInformation("Driver Subgoal AStar - Subgoal AStar start");
int s = 1;
while (!CircleAgent.obstacleOpenSpace[centerY + s, x])
{
s++;
}
Node square = new Node(x, centerY + s - 1, false);
this.nodes[0] = square;
int y = square.getY();
deleteCollectedDiamonds();
List <int> diamondNodes = new List <int>();
for (int n = 0; n < nodes.Count; n++)
{
if (nodes[n].getDiamond())
{
diamondNodes.Add(n);
}
}
CircleAgent.nodes = this.nodes;
CircleAgent.CreateEdgesAndAdjacencyMatrix();
this.adjacencyMatrix = CircleAgent.adjacencyMatrix;
this.directionMap = CircleAgent.directionMap;
SubgoalAStar sgAstar = new SubgoalAStar(0, diamondNodes, 2000, 0);
route = sgAstar.Run();
int diamondsToCollect = diamondNodes.Count - 1;
while (route == null)
{
sgAstar = new SubgoalAStar(0, diamondNodes, 2000, diamondsToCollect);
route = sgAstar.Run();
diamondsToCollect--;
if (diamondsToCollect == 0)
{
route = new Queue <Node>();
}
}
return(recalcNextNodes("Subgoal AStar", x, y));
}
public CircleWorldModel(CircleAgent agent)
: base()
{
platformManager = new CirclePlatformManager(this);
this.agent = agent;
}