public List<Node> GetAdjacentNodes(Node currentPosition)
{
var x = currentPosition.Position.X;
var y = currentPosition.Position.Y;
var retVal = new List<Node>();
if(x<_width-1)
retVal.Add(_map[x+1,y]);
if (x > 0)
retVal.Add(_map[x - 1, y]);
if (y > 0)
retVal.Add(_map[x , y-1]);
if (y < _height-1)
retVal.Add(_map[x, y + 1]);
return retVal;
}
private Node GoBack(Node currentPosition)
{
//todo astar for the shortest road
if (_roadBack == null)
{
var road = FindRoad(currentPosition);
if (road.Count <= _nbMoveToReachTheExit)
_roadBack = road;
else
{
//perform an AStart strategy!
}
}
Node nexMove = _roadBack.First();
_roadBack.RemoveAt(0);
return nexMove;
}
private List<Node> FindRoad(Node currentPosition)
{
List<Node> road = new List<Node>();
Node node = currentPosition;
while (node != InitialPosition)
{
node = node.ParentNode;
road.Add(node);
}
return road;
}
public Node Walk(Node currentPosition)
{
var adjacentNodes = GetAdjacentWalkableNodes(currentPosition);
Node nextPosition = null;
if (adjacentNodes != null && adjacentNodes.Count > 0)
{
var commandRoom = adjacentNodes.FirstOrDefault(n => n.Content == NodeContent.CommandRoom);
if (commandRoom == null)
{
nextPosition = adjacentNodes[0];
}
else
{
nextPosition = commandRoom;
ControlRoom = nextPosition;
}
}
else
{
//go Back
nextPosition = currentPosition.ParentNode;
}
return nextPosition;
}
public void LoadLineForWall(int rank, string content)
{
for (int x = 0; x < _width; x++)
{
char c = content[x];
//first time
if (_map[x, rank] == null)
_map[x, rank] = new Node(x,rank,c);
else if (_map[x, rank].Content == NodeContent.Unknown )//we know the content
_map[x, rank].SetContent(c);
if (_map[x, rank].Content == NodeContent.KirkPosition)
{
InitialPosition = _map[x, rank];
if (CurrentNode == null)
{
CurrentNode = InitialPosition;
}
}
if (_map[x, rank].Content == NodeContent.CommandRoom)
ControlRoom = _map[x, rank];
}
}
public Direction GetDirection(Node from, Node to)
{
if(from.Position.X > to.Position.X)
return Direction.LEFT;
else if(from.Position.X < to.Position.X)
return Direction.RIGHT;
else if (from.Position.Y > to.Position.Y)
return Direction.UP;
else //if (from.Position.Y < to.Position.Y)
return Direction.DOWN;
}
public List<Node> GetAdjacentWalkableNodes(Node currentPosition)
{
var nextLocations = GetAdjacentNodes(currentPosition);
List<Node> walkableNodes = new List<Node>();
foreach (var node in nextLocations)
{
// Ignore non-walkable nodes
if (!node.IsWalkable)
continue;
// Ignore already-closed nodes
if (node.State == NodeState.Closed)
continue;
// Already-open nodes are only added to the list if their G-value is lower going via this route.
if (node.State == NodeState.Open)
{
node.ParentNode = currentPosition;
node.DistanceFromStart = GetTraversalCost(InitialPosition.Position, node.Position);
walkableNodes.Add(node);
}
else
{
// If it's untested, set the parent and flag it as 'Open' for consideration
node.ParentNode = currentPosition;
node.State = NodeState.Open;
node.DistanceFromStart = GetTraversalCost(InitialPosition.Position, node.Position);
walkableNodes.Add(node);
}
}
return walkableNodes.OrderByDescending(n => n.DistanceFromStart).ToList();
}
