private void NextWaypointApdate(BFSearch.Cell nextCell, BFSearch.Cell currentCell, double addOn)
{
if (nextCell.X > currentCell.X)
{
right = addOn;
}
if (nextCell.X < currentCell.X)
{
left = -addOn;
}
if (nextCell.Y < currentCell.Y)
{
top = -addOn;
}
if (nextCell.Y > currentCell.Y)
{
bottom = addOn;
}
}
public static IList <BFSearch.Cell> CreateRouteOf(this Vehicle vehicle, int pointCount, Point startPoint, BFSearch.Cell excludeCell = null)
{
var startCell = vehicle.GetCurrentCell(startPoint);
var terminateIndex = vehicle.Self.NextWaypointIndex;
var terminateCell = vehicle.GetCellByIndex(terminateIndex);
var route = (List <BFSearch.Cell>) new BFSearch(vehicle, startCell, terminateCell).Search(excludeCell: excludeCell);
while (route.Count < pointCount)
{
startCell = terminateCell;
terminateIndex++;
terminateCell = vehicle.GetCellByIndex(terminateIndex);
var nextRoute = new BFSearch(vehicle, startCell, terminateCell).Search(excludeCell: excludeCell);
route.AddRange(nextRoute);
}
return(route);
}
public static bool IsOnLine(BFSearch.Cell startCell, BFSearch.Cell cell)
{
return(Math.Abs(startCell.X - cell.X) - Math.Abs(startCell.Y - cell.Y) == 0);
}
public static bool IsOnLine(BFSearch.Cell startCell, BFSearch.Cell cell, BFSearch.Cell cell1, BFSearch.Cell cell2)
{
return(startCell.X - cell.X == cell1.X - cell2.X && startCell.Y - cell.Y == cell1.Y - cell2.Y);
}
