public void CalculatePath(LiMap.Cell firstCellWithTransition, bool hasUnknown)
{
Logger.instance.Assert(null != pathLastCell, "Don't set last cell. Please call SetupEnvironment");
this.hasUnknown = hasUnknown;
if (null != transition && !transition.Cell.Pos.Equals(firstCellWithTransition.Pos))
{
pathLastCell = transition.Cell;
transition = transition.Next;
}
if (car.Durability < 1.0e-9 || car.Speed() < 5)
{
pathLastCell = currentDirLastCell();
transition = null;
}
beginDir = new TilePos(car.X, car.Y) - pathLastCell.Pos;
HashSet <LiMap.Cell> visited = new HashSet <LiMap.Cell>();
int depth = Math.Min(3, (int)(car.Speed() / 10));
transition = mergePath(firstCellWithTransition, pathLastCell, transition, depth);
Logger.instance.Assert(null != transition, "Can't find path.");
path = createPathFromTransition(transition).ToArray();
Logger.instance.Assert(3 <= path.Length, "Can't find full path.");
}
private CellTransition calculatePath(LiMap.Cell cell, Cell lastCell, HashSet <LiMap.Cell> visited, int depth)
{
if (visited.Contains(cell) || depth > Constant.PathMaxDepth)
{
return(null);
}
visited.Add(cell);
Cell resultCell = new Cell();
resultCell.Pos = cell.Pos;
resultCell.DirIn = cell.Pos - lastCell.Pos;
CellTransition max = null;
foreach (LiMap.Transition transition in cell.Transitions)
{
TileDir dir = transition.ToCell.Pos - cell.Pos;
resultCell.DirOut = dir;
CellTransition newTransition = calculatePath(transition.ToCell, resultCell, visited, depth + 1);
if (null != newTransition)
{
newTransition.TransitionPriority = cellTransitionPriority(lastCell, resultCell, newTransition.Cell, transition.Weight);
int checkDepth = transition.isCheckpoint ? 0 : 3;
if (null == max || newTransition.Priority(checkDepth) > max.Priority(checkDepth))
{
max = newTransition;
}
}
}
List <TileDir> dirOuts = new List <TileDir>();
foreach (TileDir dir in cell.Dirs)
{
if (dir != resultCell.DirIn.Negative())
{
dirOuts.Add(dir);
}
}
resultCell.DirOuts = dirOuts.ToArray();
resultCell.DirOut = null;
if (0 != dirOuts.Count)
{
if (null != max)
{
resultCell.DirOut = max.Cell.Pos - cell.Pos;
}
}
CellTransition result = new CellTransition(resultCell, max, cellPriority(resultCell));
visited.Remove(cell);
return(result);
}
private CellTransition mergePath(LiMap.Cell mapCell, Cell lastCell, CellTransition iter, int depth)
{
if (null != iter && depth > 0)
{
if (iter.Cell.Pos == mapCell.Pos && null != iter.Next)
{
foreach (LiMap.Transition transition in mapCell.Transitions)
{
if (iter.Next.Cell.Pos.Equals(transition.ToCell.Pos))
{
iter.Next = mergePath(transition.ToCell, iter.Cell, iter.Next, depth - 1);
return(iter);
}
}
}
}
HashSet <LiMap.Cell> visited = new HashSet <LiMap.Cell>();
return(calculatePath(mapCell, lastCell, visited, 0));
}
