public List <Point> RunAStar(Point start, Point end)
{
return(Precomputer.GetPath(Level, start, end, false).ToList());
}
// GOD FUNCTION TROIS
public List <AgentCommands> Solve()
{
List <AgentCommand> solution = new List <AgentCommand>();
State currentState = Level.InitialState;
foreach (Entity e in currentState.Entities)
{
if (e.Color != Agent.Color)
{
Level.AddPermanentWalll(e.Pos);
}
}
Point[] meisterPath = Precomputer.GetPath(Level, Agent.Pos, End, false);
Point freeSpot = meisterPath[1];
foreach (Point nextPoint in meisterPath)
{
if (nextPoint == meisterPath.First())
{
continue;
}
Direction nextDir = LessNaiveSolver.PointsToDirection(Agent.Pos, nextPoint);
Direction freeSpotDir = LessNaiveSolver.PointsToDirection(Agent.Pos, freeSpot);
if (nextDir == freeSpotDir)
{
solution.Add(AgentCommand.CreateMove(nextDir));
freeSpot = Agent.Pos;
Agent = Agent.Move(nextPoint);
continue;
}
else if (BoxSwimming.Opposite(nextDir) == freeSpotDir)
{
if (BoxSwimming.CanLeftHandBoxSwim(nextDir, Agent.Pos, Level))
{
solution.AddRange(BoxSwimming.LeftHandBoxSwimming(nextDir));
}
else if (BoxSwimming.CanRightHandBoxSwim(nextDir, Agent.Pos, Level))
{
solution.AddRange(BoxSwimming.RightHandBoxSwimming(nextDir));
}
else
{
throw new Exception("Box swimming operations failed.");
}
freeSpot = Agent.Pos;
Agent = Agent.Move(nextPoint);
continue;
}
else if (BoxSwimming.CounterClockwise(nextDir) == freeSpotDir)
{
if (BoxSwimming.CanLeftHandBoxSwim(nextDir, Agent.Pos, Level))
{
solution.AddRange(BoxSwimming.SwimLeft(BoxSwimming.Opposite(freeSpotDir)));
}
else
{
throw new Exception("Box swimming operations failed.");
}
freeSpot = Agent.Pos;
Agent = Agent.Move(nextPoint);
continue;
}
else if (BoxSwimming.Clockwise(nextDir) == freeSpotDir)
{
if (BoxSwimming.CanRightHandBoxSwim(nextDir, Agent.Pos, Level))
{
solution.AddRange(BoxSwimming.SwimRight(BoxSwimming.Opposite(freeSpotDir)));
}
else
{
throw new Exception("Box swimming operations failed.");
}
//{
// He's got gotten!
//solution.Add(AgentCommand.CreateMove(freeSpotDir));
//solution.Add(AgentCommand.CreatePull)
// Considering that FORWARD right NOW is the opposite of freeSpot
/* Move into freeSpot
* Pull left-back box into free spot
* Push left-box into left-back
* Move nextDir
* if agent isn't at nextPoint, then L/R BoxSwim in nextDir
*/
//}
freeSpot = Agent.Pos;
Agent = Agent.Move(nextPoint);
continue;
}
else
{
break;
}
}
EndSolution = new List <AgentCommands>()
{
new AgentCommands(solution, 0)
};
return(EndSolution);
}