private List <OrthogonalLineGrid2D> GetDoors(Vector2Int position, ConfigurationSpaceGrid2D configurationSpace)
{
var doors = new List <OrthogonalLineGrid2D>();
foreach (var doorInfo in configurationSpace.ReverseDoors)
{
var line = doorInfo.Item1;
var doorLine = doorInfo.Item2;
var index = line.Contains(position);
if (index == -1)
{
continue;
}
var offset = line.Length - doorLine.Line.Length;
var numberOfPositions = Math.Min(Math.Min(offset, Math.Min(index, line.Length - index)), doorLine.Line.Length) + 1;
if (numberOfPositions == 0)
{
throw new InvalidOperationException();
}
for (var i = 0; i < numberOfPositions; i++)
{
var doorStart = doorLine.Line.GetNthPoint(Math.Max(0, index - offset) + i);
var doorEnd = doorStart + doorLine.Length * doorLine.Line.GetDirectionVector();
doors.Add(new OrthogonalLineGrid2D(doorStart, doorEnd, doorLine.Line.GetDirection()));
}
}
if (doors.Count == 0)
{
throw new InvalidOperationException();
}
return(doors);
}
public ConfigurationSpaceGrid2D GetConfigurationSpace(TConfiguration configuration1, TConfiguration configuration2)
{
// If is over corridor
if (nodesToCorridorMapping.ContainsKey(new Tuple <TNode, TNode>(configuration1.Room, configuration2.Room)))
{
var roomDescription = (RoomDescriptionGrid2D)nodesToCorridorMapping[new Tuple <TNode, TNode>(configuration1.Room, configuration2.Room)];
var selector = Tuple.Create(configuration1.RoomShape, configuration2.RoomShape, roomDescription);
if (corridorToConfigurationSpaceMapping.TryGetValue(selector, out var cachedConfigurationSpace))
{
return(cachedConfigurationSpace);
}
var corridorRoomTemplateInstances = roomDescription.RoomTemplates
.SelectMany(configurationSpacesGenerator.GetRoomTemplateInstances).ToList();
// var configurationSpace = configurationSpaces.GetConfigurationSpace(configuration1, configuration2);
var configurationSpace = configurationSpacesGenerator.GetConfigurationSpaceOverCorridors(configuration1.RoomShape, configuration2.RoomShape, corridorRoomTemplateInstances);
var configurationSpaceNew =
new ConfigurationSpaceGrid2D(configurationSpace.Lines, null);
corridorToConfigurationSpaceMapping[selector] = configurationSpaceNew;
return(configurationSpaceNew);
}
// Otherwise
else
{
var configurationSpace = configurationSpacesGenerator.GetConfigurationSpace(configuration1.RoomShape, configuration2.RoomShape);
// var configurationSpace = configurationSpaces.GetConfigurationSpace(configuration1, configuration2);
return(configurationSpace);
}
}