private void Fill(int index, Vec target)
{
var tick = bots[index].Tick;
if (!ToFill.ContainsKey(tick))
{
ToFill[tick] = new List <Vec>();
}
ToFill[tick].Add(target);
AddCommand(bots[index], new Fill(new NearDifference(target - bots[index].Position)));
filled[target] = true;
oracle.Fill(target);
}
protected override async StrategyTask <bool> Run()
{
var candidates = BuildCandidates();
while (candidates.Any())
{
var candidatesAndPositions = OrderCandidates(candidates);
var any = false;
foreach (var(candidate, nearPosition) in candidatesAndPositions)
{
if (!await new FillVoxel(state, bot, candidate, nearPosition))
{
continue;
}
oracle.Fill(candidate);
any = true;
candidates.Remove(candidate);
foreach (var neighbor in candidate.GetMNeighbours(state.Matrix))
{
if (state.TargetMatrix[neighbor] && !state.Matrix[neighbor])
{
candidates.Add(neighbor);
}
}
break;
}
if (!any)
{
throw new Exception("Can't move");
}
}
await new Move(state, bot, Vec.Zero);
await Do(new Halt());
return(true);
}
private void Fill(Vec target)
{
Commands.Add(new Fill(new NearDifference(target - pos)));
state.Set(target, true);
oracle.Fill(target);
}
private void Fill(int bot, Vec target, List <ICommand> commands)
{
commands.Add(new Fill(new NearDifference(target - pos[bot])));
state.Set(target, true);
oracle.Fill(target);
}