private bool FindPathAdj(Cell cellSrc, Cell cellDest, CellPartEnum startingDirection,
bool ignoreDestCharacter, bool ignoreObstacle, bool useStraightAngle,
out List<ArrayList> shortestPathAvoids, out bool hasObstacle)
{
shortestPathAvoids = new List<ArrayList>();
hasObstacle = false;
// source is destination
if (cellSrc.Equals(cellDest)) return true;
// destination cannot has character or obstacle
if (!cellDest.HasPassability())
{
if (!ignoreDestCharacter && !ignoreObstacle) return false;
}
// find direct path (shortest path)
ArrayList directPath = new ArrayList();
if (!FindPath(cellSrc, cellDest, directPath, startingDirection,
true, true, true, useStraightAngle)) return false;
// find all adjacent cells for obstacle
ArrayList adjCells = new ArrayList();
ArrayList obsCells = new ArrayList();
GetAdjCells(directPath, cellDest, ignoreDestCharacter, adjCells, obsCells);
// if no obstacles
if (obsCells.Count < 1)
{
hasObstacle = false;
shortestPathAvoids.Add(directPath);
return true;
}
else
{
hasObstacle = true;
}
// find new path
List<ArrayList> pathAvoids = null;
FindPathAvoid(directPath, adjCells, obsCells, cellDest, out pathAvoids);
if (pathAvoids.Count < 1) return false;
// get shortest avoid path (might be many)
FindShortestPathAvoid(pathAvoids, out shortestPathAvoids);
if (shortestPathAvoids.Count < 1) return false;
return true;
}
private bool FindPath_Good(Cell cellNext, Cell cellDest, CellPartEnum direction, ArrayList path, ArrayList deadPath,
bool ignoreDestCharacter, bool ignoreObstacle, bool useStraightAngle)
{
//Debug.WriteLine(string.Format("Accept cell {0},{1}", cellNext._row, cellNext._col));
path.Add(cellNext);
if (cellNext.Equals(cellDest))
{
// end
//Debug.WriteLine("Reach Destination");
return true;
}
if (useStraightAngle)
direction = CellPartEnum.Center;
else
{
// change direction if has whole/direct angle
double degree = FindDegree(cellNext.GetCenterPoint(), cellDest.GetCenterPoint());
if (Math.Abs(degree) <= 0.05)
direction = CellPartEnum.CenterRight;
else if (Math.Abs(degree - DIGONAL_ANGLE) <= 0.05)
direction = CellPartEnum.LowerRight;
else if (Math.Abs(degree - (180 - DIGONAL_ANGLE)) <= 0.05)
direction = CellPartEnum.LowerLeft;
else if (Math.Abs(degree - 180) <= 0.05)
direction = CellPartEnum.CenterLeft;
else if (Math.Abs(degree - (180 + DIGONAL_ANGLE)) <= 0.05)
direction = CellPartEnum.UpperLeft;
else if (Math.Abs(degree - (360 - DIGONAL_ANGLE)) <= 0.05)
direction = CellPartEnum.UpperRight;
}
return FindPath_Sub(cellNext, cellDest, path, direction, deadPath,
ignoreDestCharacter, ignoreObstacle, useStraightAngle);
}
public bool FindPath(Cell cellSrc, Cell cellDest, ArrayList path, CellPartEnum startingDirection,
bool ignoreDestCharacter, bool ignoreObstacle, bool includeSrcCell, bool useStraightAngle)
{
if (includeSrcCell) path.Add(cellSrc);
if (cellSrc.Equals(cellDest))
{
// end
return true;
}
//CellPartEnum direction = FindDirection(cellSrc.GetCenterPoint(), cellDest.GetCenterPoint());
CellPartEnum direction = startingDirection;
Debug.WriteLine("--------------------------------------");
Debug.WriteLine(string.Format("Start to find at {0}", direction));
// detect unless cell
ArrayList deadPath = new ArrayList();
return FindPath_Sub(cellSrc, cellDest, path, direction, deadPath,
ignoreDestCharacter, ignoreObstacle, useStraightAngle);
}
